diff --git "a/data/metadata.jsonl" "b/data/metadata.jsonl"
--- "a/data/metadata.jsonl"
+++ "b/data/metadata.jsonl"
@@ -1,132 +1,132 @@
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2562,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/side_by_side.mp4","first_modified_step":18,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5643c1250c292cfffb0f1e2f711e6aa7c5b3db3830c74f173d0037a2e239f930","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2563,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/side_by_side.mp4","first_modified_step":37,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"4f379feb55debca94e70d6d8354827d2f4ef1363d5f1b8005db5dc97ef26e8ac","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2564,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/side_by_side.mp4","first_modified_step":21,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5782747a170e14e74aa00afa8e76f464769d52cf74ce2ba4b3dc027c4d41111f","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2567,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/side_by_side.mp4","first_modified_step":20,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"c11ae20c1c2d60f883519a956aa652e6bb5c95c6d6113c17058c3079910a0e62","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2568,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/side_by_side.mp4","first_modified_step":16,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"483367f85e88a4d678763ddfbaeab02d6d49143b2a65a6b3a50a8870b5dd66e0","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2571,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/side_by_side.mp4","first_modified_step":40,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"2380e6c477d4c8d6e38cdf2b73f97d21a93f33b14b171ca08a584aba3c54ac78","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2572,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/side_by_side.mp4","first_modified_step":17,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f2f8319edb23c280ecc7a475e2b6706fa419977fb4469e96f61d4d7a7b044fc1","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2575,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/side_by_side.mp4","first_modified_step":16,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"67a9e3a593cc68a67455c69b5f40124a6ea225faf5223a40f47d23672dc59e5f","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2576,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/side_by_side.mp4","first_modified_step":16,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"1f9b73dc5a2baafae315129db684db52d2f2077ecc0bd995504f7488d027065d","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2577,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/side_by_side.mp4","first_modified_step":13,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"54ac49cb870dfdebc93b8014d2569eabd0d7c9097391ce68a34d62620346a2b1","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2587,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/side_by_side.mp4","first_modified_step":20,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"430cf0957f7789bcb0fb613a6dd1ae560d2397cd40601f2a5580987fe20f12ca","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2592,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/side_by_side.mp4","first_modified_step":17,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"99d5333565d98180418fcaa22f95cc93fdfd851636d1189faed949361f982d56","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002593/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2593,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002593/side_by_side.mp4","first_modified_step":14,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002593/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"1f01ab4e958afe3ed74e047d6caaa3705941134286e0b86814dbb8213309173f","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002594/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2594,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002594/side_by_side.mp4","first_modified_step":35,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002594/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ace55c1280766fdfc775acf0d4e035a899f78da6a17550086986c7ac98373490","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002595/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2595,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002595/side_by_side.mp4","first_modified_step":19,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002595/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"25a2a6ad3ff1c6d77123af431d65c26db47da997012ea2c942e87a9db4c35f47","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002596/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2596,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002596/side_by_side.mp4","first_modified_step":15,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002596/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"21a6cdfecf50aed9e570510b9f906e53e5a4019536f9dd1d7b64b083c94bd44c","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002599/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2599,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002599/side_by_side.mp4","first_modified_step":36,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002599/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b513d73cc5a21d489e16b509ff515ed51f625343c1b94aa305b47f426a71926e","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002601/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2601,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002601/side_by_side.mp4","first_modified_step":23,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002601/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"dd067343f17c2dc017f23a9c41854cf462498f5f56883caaf340968d1af1426c","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002615/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2615,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002615/side_by_side.mp4","first_modified_step":26,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002615/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f5ef17dfa9fec79b8b90aca99bfc53f504d5f7b902f98beaaba8d0cc940404be","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002617/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2617,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002617/side_by_side.mp4","first_modified_step":21,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002617/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"6aab094e6f4d3d6c7262b62e9e279f5313fa554d0b643ca26f41e657591c5f43","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002619/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2619,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002619/side_by_side.mp4","first_modified_step":17,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002619/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"69c4e8373a51bf6c1aefdedb774b412fbf6e9e08eb23d9ffd0229e04a5b5cf90","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002622/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2622,"file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002622/side_by_side.mp4","first_modified_step":17,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002622/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d39676cf92e2b0dcf1c4e453fc228a62b2a31570f8856993fe65a47b5190354e","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003264/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3264,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003264/side_by_side.mp4","first_modified_step":15,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003264/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f540336bd20975a02bd5db8b54275723a7cc252ffd548bea80f378b22fa2d2dc","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003265/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3265,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003265/side_by_side.mp4","first_modified_step":15,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003265/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b11e2863625e8ca3867fcba1c3dfabb723f35fe42c83b3be24c7df9baa35dfb6","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003282/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3282,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003282/side_by_side.mp4","first_modified_step":41,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003282/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b4f136144f6774a17711c9b5498ccd5225dd6c65310e4a3a1fbcd3d1480b8a16","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003288/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3288,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003288/side_by_side.mp4","first_modified_step":18,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003288/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9a8ca8059fef0d53bbd0fd5a3ca9e1e6d324288017e7fee1f5177b4af8fec3fe","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003289/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3289,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003289/side_by_side.mp4","first_modified_step":16,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003289/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8eb20acd616525f1dc9601e592903314070f7a708f73ffad5a2c67353937b15d","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003290/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3290,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003290/side_by_side.mp4","first_modified_step":25,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003290/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5c07af250ea04ece1368d9417a3d72dbb7c696b6b2f94b25753f610f248c2a62","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003292/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3292,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003292/side_by_side.mp4","first_modified_step":32,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003292/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"658be1cafe23c291df18b5922f2a2cc436295448fe461bcee4634a06afefe209","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003293/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3293,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003293/side_by_side.mp4","first_modified_step":12,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003293/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0f86f2fbae3be959cca4f541851183c1d2f17aced17b35ad3e38f73865a47a9b","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"regression","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"regression","source_preintervention_action_exact":true,"task_key":"cube_stack"}
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-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003296/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3296,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003296/side_by_side.mp4","first_modified_step":34,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003296/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"bada46692256d373136e31442524b4ff98a88e47f57ce62122e396d75bdf4578","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003301/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3301,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003301/side_by_side.mp4","first_modified_step":49,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003301/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"98bb4ba698665a23acafd94e708ace5abcce75abe90a9947d5d46a977a898f3f","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003302/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3302,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003302/side_by_side.mp4","first_modified_step":33,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003302/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"3390b072a010cd9a4606a4f97a1b66179bf25c499efc9ddb63f8f26c664a68a1","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003306/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3306,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003306/side_by_side.mp4","first_modified_step":49,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003306/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"223015d8a19b9b8067fa826482396c4d811193255e462409844c5e6bb569a561","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003307/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3307,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003307/side_by_side.mp4","first_modified_step":34,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003307/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"25cf1a81a4e174c16b4a0fb287ad048b5cc621c56493cc8133060e0a6ca61f1a","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003313/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3313,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003313/side_by_side.mp4","first_modified_step":15,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003313/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8a910a99a2d1e63f973d62256fe7fe3c16957ea6fa55a74c6e380ce6dc49cfd0","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003314/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3314,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003314/side_by_side.mp4","first_modified_step":14,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003314/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5f743e71434ddbb4182fabc2ee0394678b6275466254f48b92cdf6b94c507f99","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
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-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003317/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3317,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003317/side_by_side.mp4","first_modified_step":15,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003317/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"742f0d0d63bb9e5020e0e42ee13e81604cddfc45b04b8d99987a81cc31b32ec8","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003318/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3318,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003318/side_by_side.mp4","first_modified_step":17,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003318/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"346c8190b0c72ce0f624283f08bc4d1fec6114046e7812e8dd80d05ed4c14c95","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003320/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3320,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003320/side_by_side.mp4","first_modified_step":13,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003320/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"2e5ffc93595aa6a265e28b35b10244ae63c4c2572044e71f9e4ad57c9e1a44b7","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003324/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3324,"file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003324/side_by_side.mp4","first_modified_step":45,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003324/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"4f56f993f1c91bf737818f0c16c458e63cf83fc9df2679b828a3a9cddfafc3d2","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002816/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2816,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002816/side_by_side.mp4","first_modified_step":45,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002816/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d024d522aabc6f8b58a71dd9a7a3dfa077c21f478e4b9e191f33a101265a8c0c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002817/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2817,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002817/side_by_side.mp4","first_modified_step":52,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002817/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8b58d75db7f4e3ef00d669d94c16fb1baf05a8c792d618ebb97dbc4998df4e37","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002818/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2818,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002818/side_by_side.mp4","first_modified_step":26,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002818/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d271ac286bbdfecfd91401498bc0d0c64447f3291d1c8b373d0f6c890304abcf","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002819/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2819,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002819/side_by_side.mp4","first_modified_step":27,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002819/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d671a18edc74571614394b7075b99f7e604c4f616482fdeccdefed24229fa574","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002820/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2820,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002820/side_by_side.mp4","first_modified_step":25,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002820/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"96c9e2ffc82ff6b19e9031b43370d4f2f079f21725f1319d54e5ae379044ac75","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002822/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2822,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002822/side_by_side.mp4","first_modified_step":41,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002822/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9e224d8f080caf47c77af6d24257674e5db60484a7982bd9af6ce89217c105e8","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002823/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2823,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002823/side_by_side.mp4","first_modified_step":29,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002823/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"32eaa8f070fe7a727daaffa680e379376fb20e5cd3a43f0b43869893704ced45","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002826/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2826,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002826/side_by_side.mp4","first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002826/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9b4bbbcd27fa1c52a431a24c53a3bef3792c6d911c3a4ef3dabe55f1e6b81782","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002827/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2827,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002827/side_by_side.mp4","first_modified_step":51,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002827/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"52793bef67ce39ad0a92a2be1579247bd6e698fdccf0f2136f03c307621eb29e","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002829/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2829,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002829/side_by_side.mp4","first_modified_step":28,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002829/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"544090d75c709b0f7156b785d320d7f59d0a34e313600099900a74cc45bba9ff","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002830/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2830,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002830/side_by_side.mp4","first_modified_step":36,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002830/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8473b58c36178da45e081e732e120850d32257e923e8c7f8c403b0512be5c294","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002831/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2831,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002831/side_by_side.mp4","first_modified_step":39,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002831/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"db0840800a051f0638e28b2b328c81e35aed1939ff965ca26444173732e38438","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"regression","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"regression","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2832,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/side_by_side.mp4","first_modified_step":28,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"eb54b7545010c15e7037d3520ac442fa1776050f94db427b41ecbbfbc773ae9a","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002833/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2833,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002833/side_by_side.mp4","first_modified_step":48,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002833/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f11b20efbc2772dbb23126dd91035ceeedacbb018ecd6789f4f1dfe4b805eaf7","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002834/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2834,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002834/side_by_side.mp4","first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002834/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d24706ad96f45059f6b2eb4ac954720929a6b5a5ff1df1d86c9f4a2a29885898","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002835/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2835,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002835/side_by_side.mp4","first_modified_step":49,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002835/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"55d7fdf54ded5f927d068f6ccc5c99810b2bc87f959a67b169ffa0f94aa879fb","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002836/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2836,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002836/side_by_side.mp4","first_modified_step":28,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002836/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"09afb6062272127fe3c8501bf0f3d12e3f2f6e97c88895e48eab9002d7571eea","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002837/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2837,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002837/side_by_side.mp4","first_modified_step":40,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002837/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"aa34913a97ac3091b86d818de76a108b5614bc79f4f3fb2f01c2b9b6f960e173","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002838/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2838,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002838/side_by_side.mp4","first_modified_step":32,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002838/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"120ae55a5eddd93986a9c98cb7e8446ae21952ccad53443c4c70cf7ad3f2ab0d","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002839/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2839,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002839/side_by_side.mp4","first_modified_step":46,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002839/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"3b6adad6287692991cd030e2e2d7a0ed03501698452b3c3f234c156fbfdb4ed1","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002841/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2841,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002841/side_by_side.mp4","first_modified_step":35,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002841/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"cea158e970c482a399ca2ce1e83b8a38331efd418928c98b0e3eeecf888ad6cd","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002843/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2843,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002843/side_by_side.mp4","first_modified_step":31,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002843/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"62176d315f97c52d1a6275817a2824de6d6bde04f3eabfaa3885d2776001a8a9","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002844/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2844,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002844/side_by_side.mp4","first_modified_step":39,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002844/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0041e173cf991645fddbb9fefafb164d20b29ec0fc002dfaee4e959fa89c39e4","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002845/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2845,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002845/side_by_side.mp4","first_modified_step":38,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002845/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"aaff91d983a9d4310ba5cd15973b2ca33e66b781771bd8df0ac737be2ec6f284","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002846/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2846,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002846/side_by_side.mp4","first_modified_step":31,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002846/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9b925f344973728597c07b15a565a355a8822d2b12446c4ff6c909a1efb29312","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002847/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2847,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002847/side_by_side.mp4","first_modified_step":54,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002847/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"85d10caf5e6a4e2dbe899d9270ba330714e9230cdbef50f3780386037b75aa32","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002848/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2848,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002848/side_by_side.mp4","first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002848/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"655ec5c721cd7ac84ee314f74857fc6dbd2913d42652edc74bc69e822cbc4466","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002850/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2850,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002850/side_by_side.mp4","first_modified_step":22,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002850/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"158c06fdd9ec2711d052a2e640df726381ce27613fb63ed4963e2ae3c82ef03c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002851/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2851,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002851/side_by_side.mp4","first_modified_step":29,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002851/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"1999a4bf687f5af50528f48c715b8efd889622f4e372e85790bf2ed9902e4e13","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002852/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2852,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002852/side_by_side.mp4","first_modified_step":52,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002852/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9dbc2daf38365020d7d5d1867cd6cfd85a37ea366c343f60ba13012835d960fa","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002854/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2854,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002854/side_by_side.mp4","first_modified_step":21,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002854/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"938a82a8e3e0deb58fece0c74db949a7855381a1258917cef4e71e0f6587340a","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002855/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2855,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002855/side_by_side.mp4","first_modified_step":35,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002855/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"56c6d42b9d0e73b46d8a097cd5519ee03d72a31947bf2f287a15d11c7d8b894e","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002856/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2856,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002856/side_by_side.mp4","first_modified_step":30,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002856/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f9b89ac198d88c0ecdf86af48b8742a3894e0ad9f3482de8f8a624fff84999e4","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2858,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/side_by_side.mp4","first_modified_step":26,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0dcfeec662db79723ccc1713ba51e049da86a0fb52c9e63c042c737c9a672f56","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002859/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2859,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002859/side_by_side.mp4","first_modified_step":54,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002859/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"3dacb822fba99522fdf163c6002d2a1e7df48ea4290c964cdae1fab42bd7daa5","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002862/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2862,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002862/side_by_side.mp4","first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002862/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0b746ef72af61e010b773d6e3a70112fffc9714a52dba7fa8345b7c62eb1440f","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002863/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2863,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002863/side_by_side.mp4","first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002863/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0ed544b115209d2044c5ab989e282817e28f3c679a7b32257d641c2342a61511","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002865/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2865,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002865/side_by_side.mp4","first_modified_step":39,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002865/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"50d7ae4618ead57e2c43eaec40832123ca76cc2ca602f0e35983c03ffd0884c1","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002867/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2867,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002867/side_by_side.mp4","first_modified_step":18,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002867/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"4135ab412d46353c885d34b9f14ff3c38d550584285fff45aaecba468d06a6a1","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002868/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2868,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002868/side_by_side.mp4","first_modified_step":22,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002868/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"6bfa96a836ebd96afbb500e5f4a4a4c5fe377a783f31d82d4141d65d74c7b4f1","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002870/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2870,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002870/side_by_side.mp4","first_modified_step":25,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002870/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"4d8b29bcf37b10cf606c7d452b87dc0f08f9eca8b6358e11bb227652ab588d0c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002872/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2872,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002872/side_by_side.mp4","first_modified_step":30,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002872/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ed01784758358eb474b8c0464ade5b5ceed92745268b08b4bfd212bec7f2d0f4","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002873/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2873,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002873/side_by_side.mp4","first_modified_step":24,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002873/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0da7b512914b2629d89a6a3414890b7150e9068fb52559f55d5f53280656ad25","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002875/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2875,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002875/side_by_side.mp4","first_modified_step":32,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002875/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"a859080b9c3f0804a12ed0ed0ed70f61a1ff3a0d387fb41c4556625a8e417a88","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002876/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2876,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002876/side_by_side.mp4","first_modified_step":18,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002876/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"986c1327917509fd5968f20a698233f050cfbff2f4a15fa30c2e1fd008bc1430","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002877/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2877,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002877/side_by_side.mp4","first_modified_step":33,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002877/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ea0e334432211de236eafde06f79cf420adc9d77adcb45ebfc50c7021af4d16f","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2879,"file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/side_by_side.mp4","first_modified_step":56,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"52d227f4217f8826745e0bcdc1beeb162b09e328a4d38ab827e1be187729836a","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002304/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2304,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002304/side_by_side.mp4","first_modified_step":23,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002304/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"3816ddb13e6a462991788a2a447b7b18087328f15a1a2f064f92363879fc4eae","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002305/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2305,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002305/side_by_side.mp4","first_modified_step":20,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002305/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b1bab31fca117ad1094f55300c67933192e92cf4af79ef0a5db92280a6b2f4d5","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002306/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2306,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002306/side_by_side.mp4","first_modified_step":32,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002306/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9dd4a178b7da8fbfde9be3455b245b21794d9be7169c9fb251d4d7ce66998d67","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002310/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2310,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002310/side_by_side.mp4","first_modified_step":32,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002310/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ce0c4eb257d0956f5ee9c5c45ae16318533d4fa2a955f99f5d0d00dc18dfaa56","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002315/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2315,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002315/side_by_side.mp4","first_modified_step":35,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002315/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"93c90521b79ab36454c982b0411b8875390c9a5e0de09c8c41ee9b0841266168","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002318/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2318,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002318/side_by_side.mp4","first_modified_step":39,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002318/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"67ea071a15ed28e0f4ebd4c72967754e1815929f252592333c5427b2a74ffd83","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002319/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2319,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002319/side_by_side.mp4","first_modified_step":29,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002319/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f8283e7584f0ec5fb0c6d3deec5ff9238e1fe5a4d3e331a7d8a3bfeb557bfdf7","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002322/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2322,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002322/side_by_side.mp4","first_modified_step":28,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002322/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"6c965e506581d47de1c01d7ea03f61ed568026391128879514c44c115c977ace","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2323,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/side_by_side.mp4","first_modified_step":29,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8044ab17300f2b68ac9a7ccc0c6cf5e01fe61f5a6658129f362afa1610f591a5","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002324/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2324,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002324/side_by_side.mp4","first_modified_step":40,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002324/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"07310c441ce8cb314a6a79803746e9c2634c9b72836051def430dc08988692f2","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002325/baseline.mp4","comparison_prefix_mode":"natural_exact+transparent_pixel_prefix_canonicalization","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2325,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002325/side_by_side.mp4","first_modified_step":42,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002325/intervention.mp4","natural_rgb_prefix_exact":false,"pair_id":"cbf86883e31daddea3e108a7cb1d5f3b737d0c7c21d45f83177db99c1f40943f","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002326/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2326,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002326/side_by_side.mp4","first_modified_step":17,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002326/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"c709da1805ea4f507c9811dc167d5b4dea1503b1ce8871078eebb38b2419a96c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002327/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2327,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002327/side_by_side.mp4","first_modified_step":21,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002327/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"632957aa757901bf027c422a1d45a77fc6e0addc47c2ecd9aaf8ccd67d49c1bc","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002328/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2328,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002328/side_by_side.mp4","first_modified_step":28,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002328/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"572ec1e3d894121ef355af33dc039e72dafa2c314b07a0d2dd2056c3734da68c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002329/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2329,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002329/side_by_side.mp4","first_modified_step":22,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002329/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"72576a369c1ac358588fe43064093a62b02f38d78ab45cd9db36b63552ef1661","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002330/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2330,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002330/side_by_side.mp4","first_modified_step":27,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002330/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"cfd5716f9ab24550c75930d072acbdd8d5e995a42a01729f85ec38337953faa3","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002331/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2331,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002331/side_by_side.mp4","first_modified_step":53,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002331/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f324bfcc94c5ff406339506151579c69409d39298f280c7d6056c02d2e9218a6","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002333/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2333,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002333/side_by_side.mp4","first_modified_step":42,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002333/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"6807e9aa76051603d29250653eebf918119317963d203170f63d174938747c7d","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002335/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2335,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002335/side_by_side.mp4","first_modified_step":21,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002335/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"33a48f7b917dc0be5b2f1ea2ab5bde9c24c5ae2de86ac4d19bb26e3d7122d341","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002337/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2337,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002337/side_by_side.mp4","first_modified_step":40,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002337/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b688ad4ba9ec9e39d185a95c2cea9c0de1adcd4c733511e0b2e065bc09dc122b","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002339/baseline.mp4","comparison_prefix_mode":"canonical_action_splice+transparent_pixel_prefix_canonicalization","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2339,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002339/side_by_side.mp4","first_modified_step":27,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002339/intervention.mp4","natural_rgb_prefix_exact":false,"pair_id":"1c115bdc036c1d843c69609b71716d4e21a9cc0b9188b952a6841cbf792c2359","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":false,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002340/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2340,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002340/side_by_side.mp4","first_modified_step":49,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002340/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"46b66039930c86061caebf4adeeb7482cddf5cc153321de1bef8e1c19d94cdd8","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002341/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2341,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002341/side_by_side.mp4","first_modified_step":42,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002341/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"a9b1428de90e6ca4902ea6f5abf35ede3a220e95d8a0006319eed987ed1fca27","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002342/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2342,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002342/side_by_side.mp4","first_modified_step":35,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002342/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"26371f7081c55b454919c40e2653fdb1b6ae120eabc0077a3e41878782f32c0a","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002343/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2343,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002343/side_by_side.mp4","first_modified_step":42,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002343/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5e2e3997645e2b3f80e2e314938858a42585a294dc10afea58ab5136a141660c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002344/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2344,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002344/side_by_side.mp4","first_modified_step":44,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002344/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b60be0f0cd78b290df23d1fe76ff35a88063c3019a57fc3b4c0a95198f48ed8c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002346/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2346,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002346/side_by_side.mp4","first_modified_step":17,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002346/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"969a8837d10cda3b63c7d70413025bde027c6e713f98a3c0e525ce649232d03e","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002348/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2348,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002348/side_by_side.mp4","first_modified_step":46,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002348/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"44764ef9a2b8450941c9db97f940c26248324c1f9de08d3ab8fcf5dd78fae048","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002349/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2349,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002349/side_by_side.mp4","first_modified_step":23,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002349/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"1090a900c2c4562ecf4a9665268b93cf59059602608b5f1b05827501fbe18b12","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002350/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2350,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002350/side_by_side.mp4","first_modified_step":30,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002350/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"710b1f1913472afd527e070b00c6eae724be2c939eb83ac3c0f0c28e519e0100","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002351/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2351,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002351/side_by_side.mp4","first_modified_step":32,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002351/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9ddda09fd1ec202df0b5e1fc9cdabb8e56deac79632be4951bd8db79af72749c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002352/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2352,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002352/side_by_side.mp4","first_modified_step":25,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002352/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"c6f0dd193dfd68465f68d0262d8af16640b5952f2be37c9f564f42d64284841e","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002353/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2353,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002353/side_by_side.mp4","first_modified_step":23,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002353/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d758c19c0443f77172d6d5e8471dfee95e292bb5fca2e0a0f076d28b61308af8","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002356/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2356,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002356/side_by_side.mp4","first_modified_step":21,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002356/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"545f912c13bae34d1d1b0c6c26527bc0bfadb54d47b41ed2c8f253b2c92186a8","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002357/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2357,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002357/side_by_side.mp4","first_modified_step":38,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002357/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ef896f440a2f4df3d6dabe03cc93996ccb5f7154b492016dcc96468a781ae264","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002359/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2359,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002359/side_by_side.mp4","first_modified_step":48,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002359/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"986c6778d8d7abc7f2957a33cf57dce41e05624217139a22efc793d797026ac5","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/baseline.mp4","comparison_prefix_mode":"natural_exact+transparent_pixel_prefix_canonicalization","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2362,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/side_by_side.mp4","first_modified_step":29,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/intervention.mp4","natural_rgb_prefix_exact":false,"pair_id":"9557f94e7ed9c736c24ffcff6136d91fc06e65a38c17550e44267aa03544706f","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002363/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2363,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002363/side_by_side.mp4","first_modified_step":32,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002363/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"42ea47a443d76276c13bae6fed69f06a5690755d97393da0cb708b3dea0cbdc6","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002364/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2364,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002364/side_by_side.mp4","first_modified_step":18,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002364/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d9824766d609809e5b4d716ed17d8b31f1cc22d6366263c1c6f58db52ca780d0","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002365/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2365,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002365/side_by_side.mp4","first_modified_step":30,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002365/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ff1443f72b764922bff954d9530eb58af36fe93d32020ee4daceeadc23110855","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002366/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2366,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002366/side_by_side.mp4","first_modified_step":45,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002366/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8741a52f7ffde18ae183bf498e2b6534b0562f0fc5937bbddf3c9350d9d73b09","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
-{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002367/baseline.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2367,"file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002367/side_by_side.mp4","first_modified_step":16,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002367/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"dd494bc2f7ec9febfef0136858f949208d224c3bdb921bb4bf37ed6b68d1f087","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2562,"first_modified_step":18,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002562/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5643c1250c292cfffb0f1e2f711e6aa7c5b3db3830c74f173d0037a2e239f930","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2563,"first_modified_step":37,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002563/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"4f379feb55debca94e70d6d8354827d2f4ef1363d5f1b8005db5dc97ef26e8ac","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2564,"first_modified_step":21,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002564/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5782747a170e14e74aa00afa8e76f464769d52cf74ce2ba4b3dc027c4d41111f","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2567,"first_modified_step":20,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002567/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"c11ae20c1c2d60f883519a956aa652e6bb5c95c6d6113c17058c3079910a0e62","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2568,"first_modified_step":16,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002568/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"483367f85e88a4d678763ddfbaeab02d6d49143b2a65a6b3a50a8870b5dd66e0","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2571,"first_modified_step":40,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002571/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"2380e6c477d4c8d6e38cdf2b73f97d21a93f33b14b171ca08a584aba3c54ac78","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2572,"first_modified_step":17,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002572/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f2f8319edb23c280ecc7a475e2b6706fa419977fb4469e96f61d4d7a7b044fc1","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2575,"first_modified_step":16,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002575/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"67a9e3a593cc68a67455c69b5f40124a6ea225faf5223a40f47d23672dc59e5f","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2576,"first_modified_step":16,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002576/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"1f9b73dc5a2baafae315129db684db52d2f2077ecc0bd995504f7488d027065d","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2577,"first_modified_step":13,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002577/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"54ac49cb870dfdebc93b8014d2569eabd0d7c9097391ce68a34d62620346a2b1","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2587,"first_modified_step":20,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002587/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"430cf0957f7789bcb0fb613a6dd1ae560d2397cd40601f2a5580987fe20f12ca","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2592,"first_modified_step":17,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002592/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"99d5333565d98180418fcaa22f95cc93fdfd851636d1189faed949361f982d56","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002593/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002593/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2593,"first_modified_step":14,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002593/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"1f01ab4e958afe3ed74e047d6caaa3705941134286e0b86814dbb8213309173f","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002594/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002594/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2594,"first_modified_step":35,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002594/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ace55c1280766fdfc775acf0d4e035a899f78da6a17550086986c7ac98373490","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002595/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002595/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2595,"first_modified_step":19,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002595/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"25a2a6ad3ff1c6d77123af431d65c26db47da997012ea2c942e87a9db4c35f47","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002596/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002596/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2596,"first_modified_step":15,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002596/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"21a6cdfecf50aed9e570510b9f906e53e5a4019536f9dd1d7b64b083c94bd44c","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002599/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002599/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2599,"first_modified_step":36,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002599/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b513d73cc5a21d489e16b509ff515ed51f625343c1b94aa305b47f426a71926e","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002601/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002601/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2601,"first_modified_step":23,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002601/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"dd067343f17c2dc017f23a9c41854cf462498f5f56883caaf340968d1af1426c","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002615/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002615/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2615,"first_modified_step":26,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002615/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f5ef17dfa9fec79b8b90aca99bfc53f504d5f7b902f98beaaba8d0cc940404be","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002617/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002617/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2617,"first_modified_step":21,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002617/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"6aab094e6f4d3d6c7262b62e9e279f5313fa554d0b643ca26f41e657591c5f43","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002619/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002619/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2619,"first_modified_step":17,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002619/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"69c4e8373a51bf6c1aefdedb774b412fbf6e9e08eb23d9ffd0229e04a5b5cf90","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002622/baseline.mp4","comparison_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002622/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_any_grasp_gentle_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":2622,"first_modified_step":17,"formula_sha256":"13a779b09aed180886f2a93e9498465391b6f3b362870aa34dd82c40e9520c33","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_any_grasp_gentle_validation_v1/episode_002622/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d39676cf92e2b0dcf1c4e453fc228a62b2a31570f8856993fe65a47b5190354e","patch_formula":"window(t) := 8 <= t < 42\nbudget(t) := interventions(t) < 24\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 3\ntransport_request(t) := proposed_open(t) OR true\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.025\nservo_xy(t) := clip_norm(-0.8 * target_vector_xy(t), 0.018)\nlift: a_exec[:6]=0; a_exec[2]=+0.01; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.01; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 4 OR source_lift >= 0.03\nservo -> descend after age >= 9 OR d_xy <= 0.008\ndescend -> release after age >= 4; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"cube_any_grasp_gentle","patch_sha256":"b64c2a27be859bb88fa0c15fb4a69b42e3eb0aefe4c5b9462161972075725d6c","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003264/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003264/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3264,"first_modified_step":15,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003264/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f540336bd20975a02bd5db8b54275723a7cc252ffd548bea80f378b22fa2d2dc","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003265/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003265/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3265,"first_modified_step":15,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003265/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b11e2863625e8ca3867fcba1c3dfabb723f35fe42c83b3be24c7df9baa35dfb6","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003282/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003282/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3282,"first_modified_step":41,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003282/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b4f136144f6774a17711c9b5498ccd5225dd6c65310e4a3a1fbcd3d1480b8a16","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003288/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003288/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3288,"first_modified_step":18,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003288/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9a8ca8059fef0d53bbd0fd5a3ca9e1e6d324288017e7fee1f5177b4af8fec3fe","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003289/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003289/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3289,"first_modified_step":16,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003289/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8eb20acd616525f1dc9601e592903314070f7a708f73ffad5a2c67353937b15d","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003290/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003290/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3290,"first_modified_step":25,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003290/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5c07af250ea04ece1368d9417a3d72dbb7c696b6b2f94b25753f610f248c2a62","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003292/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003292/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3292,"first_modified_step":32,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003292/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"658be1cafe23c291df18b5922f2a2cc436295448fe461bcee4634a06afefe209","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003293/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003293/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3293,"first_modified_step":12,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003293/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0f86f2fbae3be959cca4f541851183c1d2f17aced17b35ad3e38f73865a47a9b","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"regression","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"regression","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003295/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003295/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3295,"first_modified_step":51,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003295/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"10a45e8c349224881b24fb9363222d75e81b373fd1cb904149050c83ec57e057","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003296/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003296/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3296,"first_modified_step":34,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003296/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"bada46692256d373136e31442524b4ff98a88e47f57ce62122e396d75bdf4578","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003301/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003301/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3301,"first_modified_step":49,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003301/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"98bb4ba698665a23acafd94e708ace5abcce75abe90a9947d5d46a977a898f3f","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003302/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003302/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3302,"first_modified_step":33,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003302/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"3390b072a010cd9a4606a4f97a1b66179bf25c499efc9ddb63f8f26c664a68a1","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003306/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003306/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3306,"first_modified_step":49,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003306/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"223015d8a19b9b8067fa826482396c4d811193255e462409844c5e6bb569a561","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003307/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003307/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3307,"first_modified_step":34,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003307/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"25cf1a81a4e174c16b4a0fb287ad048b5cc621c56493cc8133060e0a6ca61f1a","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003313/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003313/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3313,"first_modified_step":15,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003313/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8a910a99a2d1e63f973d62256fe7fe3c16957ea6fa55a74c6e380ce6dc49cfd0","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003314/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003314/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3314,"first_modified_step":14,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003314/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5f743e71434ddbb4182fabc2ee0394678b6275466254f48b92cdf6b94c507f99","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003316/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003316/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3316,"first_modified_step":14,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003316/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0fea23c8490ae9c6c0535d7feca04078964dd76dc8fff8da510dc041b0675553","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003317/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003317/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3317,"first_modified_step":15,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003317/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"742f0d0d63bb9e5020e0e42ee13e81604cddfc45b04b8d99987a81cc31b32ec8","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003318/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003318/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3318,"first_modified_step":17,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003318/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"346c8190b0c72ce0f624283f08bc4d1fec6114046e7812e8dd80d05ed4c14c95","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003320/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003320/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3320,"first_modified_step":13,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003320/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"2e5ffc93595aa6a265e28b35b10244ae63c4c2572044e71f9e4ad57c9e1a44b7","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003324/baseline.mp4","comparison_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003324/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"cube_open_autonomous_validation_v1","env_id":"StackGreenCubeOnYellowCubeBakedTexInScene-v1","episode_id":3324,"first_modified_step":45,"formula_sha256":"dcd1f78c2a6eccaaceac423d2d121bdf44d06a87a16fa82aacd5ac321b5f7493","instruction":"stack the green block on the yellow block","intervention_file_name":"train/cube_stack/cube_open_autonomous_validation_v1/episode_003324/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"4f56f993f1c91bf737818f0c16c458e63cf83fc9df2679b828a3a9cddfafc3d2","patch_formula":"phase watch -> repair if latch(oracle.source_grasped)\nphase repair: a_exec[0, 1] += clip_norm(scale(linear(matrix=[[1.0,0.0],[0.0,1.0]], value=oracle.held_source_planar_error_xy),0.5),0.02)\nphase repair: a_exec[2] += clip_norm(scale(linear(matrix=[[-1.0]], value=oracle.held_source_vertical_error),0.25),0.01)\nphase repair: a_exec[6] := [-1.0]","patch_id":"auth_discovered_event_ever_true_16001350a973_01","patch_sha256":"112a369517957439dcc7bc922286baf475c39222c9473fe9869be78d226e9699","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"cube_stack"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002816/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002816/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2816,"first_modified_step":45,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002816/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d024d522aabc6f8b58a71dd9a7a3dfa077c21f478e4b9e191f33a101265a8c0c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002817/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002817/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2817,"first_modified_step":52,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002817/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8b58d75db7f4e3ef00d669d94c16fb1baf05a8c792d618ebb97dbc4998df4e37","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002818/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002818/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2818,"first_modified_step":26,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002818/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d271ac286bbdfecfd91401498bc0d0c64447f3291d1c8b373d0f6c890304abcf","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002819/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002819/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2819,"first_modified_step":27,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002819/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d671a18edc74571614394b7075b99f7e604c4f616482fdeccdefed24229fa574","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002820/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002820/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2820,"first_modified_step":25,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002820/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"96c9e2ffc82ff6b19e9031b43370d4f2f079f21725f1319d54e5ae379044ac75","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002822/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002822/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2822,"first_modified_step":41,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002822/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9e224d8f080caf47c77af6d24257674e5db60484a7982bd9af6ce89217c105e8","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002823/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002823/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2823,"first_modified_step":29,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002823/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"32eaa8f070fe7a727daaffa680e379376fb20e5cd3a43f0b43869893704ced45","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002826/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002826/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2826,"first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002826/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9b4bbbcd27fa1c52a431a24c53a3bef3792c6d911c3a4ef3dabe55f1e6b81782","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002827/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002827/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2827,"first_modified_step":51,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002827/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"52793bef67ce39ad0a92a2be1579247bd6e698fdccf0f2136f03c307621eb29e","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002829/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002829/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2829,"first_modified_step":28,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002829/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"544090d75c709b0f7156b785d320d7f59d0a34e313600099900a74cc45bba9ff","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002830/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002830/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2830,"first_modified_step":36,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002830/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8473b58c36178da45e081e732e120850d32257e923e8c7f8c403b0512be5c294","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002831/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002831/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2831,"first_modified_step":39,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002831/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"db0840800a051f0638e28b2b328c81e35aed1939ff965ca26444173732e38438","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"regression","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"regression","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2832,"first_modified_step":28,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002832/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"eb54b7545010c15e7037d3520ac442fa1776050f94db427b41ecbbfbc773ae9a","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002833/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002833/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2833,"first_modified_step":48,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002833/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f11b20efbc2772dbb23126dd91035ceeedacbb018ecd6789f4f1dfe4b805eaf7","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002834/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002834/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2834,"first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002834/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d24706ad96f45059f6b2eb4ac954720929a6b5a5ff1df1d86c9f4a2a29885898","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002835/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002835/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2835,"first_modified_step":49,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002835/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"55d7fdf54ded5f927d068f6ccc5c99810b2bc87f959a67b169ffa0f94aa879fb","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002836/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002836/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2836,"first_modified_step":28,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002836/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"09afb6062272127fe3c8501bf0f3d12e3f2f6e97c88895e48eab9002d7571eea","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002837/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002837/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2837,"first_modified_step":40,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002837/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"aa34913a97ac3091b86d818de76a108b5614bc79f4f3fb2f01c2b9b6f960e173","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002838/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002838/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2838,"first_modified_step":32,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002838/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"120ae55a5eddd93986a9c98cb7e8446ae21952ccad53443c4c70cf7ad3f2ab0d","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002839/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002839/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2839,"first_modified_step":46,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002839/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"3b6adad6287692991cd030e2e2d7a0ed03501698452b3c3f234c156fbfdb4ed1","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002841/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002841/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2841,"first_modified_step":35,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002841/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"cea158e970c482a399ca2ce1e83b8a38331efd418928c98b0e3eeecf888ad6cd","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002843/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002843/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2843,"first_modified_step":31,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002843/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"62176d315f97c52d1a6275817a2824de6d6bde04f3eabfaa3885d2776001a8a9","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002844/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002844/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2844,"first_modified_step":39,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002844/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0041e173cf991645fddbb9fefafb164d20b29ec0fc002dfaee4e959fa89c39e4","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002845/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002845/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2845,"first_modified_step":38,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002845/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"aaff91d983a9d4310ba5cd15973b2ca33e66b781771bd8df0ac737be2ec6f284","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002846/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002846/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2846,"first_modified_step":31,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002846/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9b925f344973728597c07b15a565a355a8822d2b12446c4ff6c909a1efb29312","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002847/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002847/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2847,"first_modified_step":54,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002847/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"85d10caf5e6a4e2dbe899d9270ba330714e9230cdbef50f3780386037b75aa32","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002848/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002848/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2848,"first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002848/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"655ec5c721cd7ac84ee314f74857fc6dbd2913d42652edc74bc69e822cbc4466","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002850/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002850/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2850,"first_modified_step":22,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002850/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"158c06fdd9ec2711d052a2e640df726381ce27613fb63ed4963e2ae3c82ef03c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002851/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002851/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2851,"first_modified_step":29,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002851/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"1999a4bf687f5af50528f48c715b8efd889622f4e372e85790bf2ed9902e4e13","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002852/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002852/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2852,"first_modified_step":52,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002852/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9dbc2daf38365020d7d5d1867cd6cfd85a37ea366c343f60ba13012835d960fa","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002854/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002854/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2854,"first_modified_step":21,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002854/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"938a82a8e3e0deb58fece0c74db949a7855381a1258917cef4e71e0f6587340a","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002855/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002855/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2855,"first_modified_step":35,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002855/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"56c6d42b9d0e73b46d8a097cd5519ee03d72a31947bf2f287a15d11c7d8b894e","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002856/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002856/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2856,"first_modified_step":30,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002856/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f9b89ac198d88c0ecdf86af48b8742a3894e0ad9f3482de8f8a624fff84999e4","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2858,"first_modified_step":26,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002858/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0dcfeec662db79723ccc1713ba51e049da86a0fb52c9e63c042c737c9a672f56","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002859/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002859/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2859,"first_modified_step":54,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002859/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"3dacb822fba99522fdf163c6002d2a1e7df48ea4290c964cdae1fab42bd7daa5","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002862/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002862/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2862,"first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002862/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0b746ef72af61e010b773d6e3a70112fffc9714a52dba7fa8345b7c62eb1440f","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002863/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002863/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2863,"first_modified_step":34,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002863/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0ed544b115209d2044c5ab989e282817e28f3c679a7b32257d641c2342a61511","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002865/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002865/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2865,"first_modified_step":39,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002865/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"50d7ae4618ead57e2c43eaec40832123ca76cc2ca602f0e35983c03ffd0884c1","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002867/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002867/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2867,"first_modified_step":18,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002867/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"4135ab412d46353c885d34b9f14ff3c38d550584285fff45aaecba468d06a6a1","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002868/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002868/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2868,"first_modified_step":22,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002868/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"6bfa96a836ebd96afbb500e5f4a4a4c5fe377a783f31d82d4141d65d74c7b4f1","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002870/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002870/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2870,"first_modified_step":25,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002870/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"4d8b29bcf37b10cf606c7d452b87dc0f08f9eca8b6358e11bb227652ab588d0c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002872/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002872/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2872,"first_modified_step":30,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002872/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ed01784758358eb474b8c0464ade5b5ceed92745268b08b4bfd212bec7f2d0f4","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002873/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002873/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2873,"first_modified_step":24,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002873/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"0da7b512914b2629d89a6a3414890b7150e9068fb52559f55d5f53280656ad25","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002875/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002875/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2875,"first_modified_step":32,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002875/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"a859080b9c3f0804a12ed0ed0ed70f61a1ff3a0d387fb41c4556625a8e417a88","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002876/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002876/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2876,"first_modified_step":18,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002876/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"986c1327917509fd5968f20a698233f050cfbff2f4a15fa30c2e1fd008bc1430","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002877/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002877/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2877,"first_modified_step":33,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002877/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ea0e334432211de236eafde06f79cf420adc9d77adcb45ebfc50c7021af4d16f","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_agentic_premature_release_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2879,"first_modified_step":56,"formula_sha256":"0e228012820a33c127c0babbbdd800a374c257c1dc4962950e372c79b5e46863","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_agentic_premature_release_validation_v1/episode_002879/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"52d227f4217f8826745e0bcdc1beeb162b09e328a4d38ab827e1be187729836a","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\na_exec(t) := exact runtime branch mode_transport_servo(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"stage_00_premature_release","patch_sha256":"0bccbed2ccf63ee2aa2a96689c2919b606a8a03453906fc7b9ebef1b3197675a","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002304/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002304/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2304,"first_modified_step":23,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002304/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"3816ddb13e6a462991788a2a447b7b18087328f15a1a2f064f92363879fc4eae","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002305/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002305/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2305,"first_modified_step":20,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002305/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b1bab31fca117ad1094f55300c67933192e92cf4af79ef0a5db92280a6b2f4d5","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002306/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002306/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2306,"first_modified_step":32,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002306/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9dd4a178b7da8fbfde9be3455b245b21794d9be7169c9fb251d4d7ce66998d67","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002310/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002310/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2310,"first_modified_step":32,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002310/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ce0c4eb257d0956f5ee9c5c45ae16318533d4fa2a955f99f5d0d00dc18dfaa56","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002315/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002315/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2315,"first_modified_step":35,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002315/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"93c90521b79ab36454c982b0411b8875390c9a5e0de09c8c41ee9b0841266168","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002318/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002318/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2318,"first_modified_step":39,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002318/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"67ea071a15ed28e0f4ebd4c72967754e1815929f252592333c5427b2a74ffd83","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002319/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002319/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2319,"first_modified_step":29,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002319/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f8283e7584f0ec5fb0c6d3deec5ff9238e1fe5a4d3e331a7d8a3bfeb557bfdf7","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002322/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002322/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2322,"first_modified_step":28,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002322/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"6c965e506581d47de1c01d7ea03f61ed568026391128879514c44c115c977ace","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2323,"first_modified_step":29,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002323/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8044ab17300f2b68ac9a7ccc0c6cf5e01fe61f5a6658129f362afa1610f591a5","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002324/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002324/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2324,"first_modified_step":40,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002324/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"07310c441ce8cb314a6a79803746e9c2634c9b72836051def430dc08988692f2","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002325/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002325/side_by_side.mp4","comparison_prefix_mode":"natural_exact+transparent_pixel_prefix_canonicalization","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2325,"first_modified_step":42,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002325/intervention.mp4","natural_rgb_prefix_exact":false,"pair_id":"cbf86883e31daddea3e108a7cb1d5f3b737d0c7c21d45f83177db99c1f40943f","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002326/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002326/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2326,"first_modified_step":17,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002326/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"c709da1805ea4f507c9811dc167d5b4dea1503b1ce8871078eebb38b2419a96c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002327/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002327/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2327,"first_modified_step":21,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002327/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"632957aa757901bf027c422a1d45a77fc6e0addc47c2ecd9aaf8ccd67d49c1bc","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002328/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002328/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2328,"first_modified_step":28,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002328/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"572ec1e3d894121ef355af33dc039e72dafa2c314b07a0d2dd2056c3734da68c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002329/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002329/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2329,"first_modified_step":22,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002329/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"72576a369c1ac358588fe43064093a62b02f38d78ab45cd9db36b63552ef1661","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002330/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002330/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2330,"first_modified_step":27,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002330/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"cfd5716f9ab24550c75930d072acbdd8d5e995a42a01729f85ec38337953faa3","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002331/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002331/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2331,"first_modified_step":53,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002331/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"f324bfcc94c5ff406339506151579c69409d39298f280c7d6056c02d2e9218a6","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002333/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002333/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2333,"first_modified_step":42,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002333/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"6807e9aa76051603d29250653eebf918119317963d203170f63d174938747c7d","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002335/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002335/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2335,"first_modified_step":21,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002335/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"33a48f7b917dc0be5b2f1ea2ab5bde9c24c5ae2de86ac4d19bb26e3d7122d341","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002337/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002337/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2337,"first_modified_step":40,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002337/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b688ad4ba9ec9e39d185a95c2cea9c0de1adcd4c733511e0b2e065bc09dc122b","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002339/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002339/side_by_side.mp4","comparison_prefix_mode":"canonical_action_splice+transparent_pixel_prefix_canonicalization","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2339,"first_modified_step":27,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002339/intervention.mp4","natural_rgb_prefix_exact":false,"pair_id":"1c115bdc036c1d843c69609b71716d4e21a9cc0b9188b952a6841cbf792c2359","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":false,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002340/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002340/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2340,"first_modified_step":49,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002340/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"46b66039930c86061caebf4adeeb7482cddf5cc153321de1bef8e1c19d94cdd8","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002341/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002341/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2341,"first_modified_step":42,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002341/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"a9b1428de90e6ca4902ea6f5abf35ede3a220e95d8a0006319eed987ed1fca27","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002342/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002342/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2342,"first_modified_step":35,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002342/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"26371f7081c55b454919c40e2653fdb1b6ae120eabc0077a3e41878782f32c0a","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002343/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002343/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2343,"first_modified_step":42,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002343/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"5e2e3997645e2b3f80e2e314938858a42585a294dc10afea58ab5136a141660c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002344/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002344/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2344,"first_modified_step":44,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002344/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"b60be0f0cd78b290df23d1fe76ff35a88063c3019a57fc3b4c0a95198f48ed8c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002346/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002346/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2346,"first_modified_step":17,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002346/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"969a8837d10cda3b63c7d70413025bde027c6e713f98a3c0e525ce649232d03e","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002348/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002348/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2348,"first_modified_step":46,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002348/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"44764ef9a2b8450941c9db97f940c26248324c1f9de08d3ab8fcf5dd78fae048","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002349/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002349/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2349,"first_modified_step":23,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002349/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"1090a900c2c4562ecf4a9665268b93cf59059602608b5f1b05827501fbe18b12","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002350/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002350/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2350,"first_modified_step":30,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002350/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"710b1f1913472afd527e070b00c6eae724be2c939eb83ac3c0f0c28e519e0100","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002351/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002351/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2351,"first_modified_step":32,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002351/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"9ddda09fd1ec202df0b5e1fc9cdabb8e56deac79632be4951bd8db79af72749c","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002352/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002352/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2352,"first_modified_step":25,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002352/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"c6f0dd193dfd68465f68d0262d8af16640b5952f2be37c9f564f42d64284841e","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002353/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002353/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2353,"first_modified_step":23,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002353/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d758c19c0443f77172d6d5e8471dfee95e292bb5fca2e0a0f076d28b61308af8","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002356/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002356/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2356,"first_modified_step":21,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002356/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"545f912c13bae34d1d1b0c6c26527bc0bfadb54d47b41ed2c8f253b2c92186a8","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002357/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002357/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2357,"first_modified_step":38,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002357/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ef896f440a2f4df3d6dabe03cc93996ccb5f7154b492016dcc96468a781ae264","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002359/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002359/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2359,"first_modified_step":48,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002359/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"986c6778d8d7abc7f2957a33cf57dce41e05624217139a22efc793d797026ac5","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/side_by_side.mp4","comparison_prefix_mode":"natural_exact+transparent_pixel_prefix_canonicalization","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2362,"first_modified_step":29,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002362/intervention.mp4","natural_rgb_prefix_exact":false,"pair_id":"9557f94e7ed9c736c24ffcff6136d91fc06e65a38c17550e44267aa03544706f","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002363/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002363/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2363,"first_modified_step":32,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002363/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"42ea47a443d76276c13bae6fed69f06a5690755d97393da0cb708b3dea0cbdc6","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002364/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002364/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2364,"first_modified_step":18,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002364/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"d9824766d609809e5b4d716ed17d8b31f1cc22d6366263c1c6f58db52ca780d0","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002365/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002365/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2365,"first_modified_step":30,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002365/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"ff1443f72b764922bff954d9530eb58af36fe93d32020ee4daceeadc23110855","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"correction","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"correction","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002366/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002366/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2366,"first_modified_step":45,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002366/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"8741a52f7ffde18ae183bf498e2b6534b0562f0fc5937bbddf3c9350d9d73b09","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_success","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_success","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}
+{"baseline_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002367/baseline.mp4","comparison_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002367/side_by_side.mp4","comparison_prefix_mode":"natural_exact","entry_id":"spoon_hybrid_regrasp_servo_validation_v1","env_id":"PutSpoonOnTableClothInScene-v1","episode_id":2367,"first_modified_step":16,"formula_sha256":"fc4066da1b6dae2b01b34a757518232f46c6176677d1085b8b4ee6793bba082f","instruction":"put the spoon on the towel","intervention_file_name":"train/spoon_cloth/spoon_hybrid_regrasp_servo_validation_v1/episode_002367/intervention.mp4","natural_rgb_prefix_exact":true,"pair_id":"dd494bc2f7ec9febfef0136858f949208d224c3bdb921bb4bf37ed6b68d1f087","patch_formula":"window(t) := 12 <= t < 56\nbudget(t) := interventions(t) < 18\nproposed_open(t) := a_policy[6](t) > 0.0\ntarget_vector_xy(t) := target_xy(t) - source_xy(t)\nd_xy(t) := ||target_vector_xy(t)||_2\na_exec(t) := a_policy(t), then apply the active mode branch below\nstable_grasp(t) := consecutive(grasped(t)) >= 2\ntransport_request(t) := proposed_open(t) OR false\ntransport_trigger(t) := phase=idle AND not transport_done AND window(t) AND budget(t) AND transport_request(t) AND stable_grasp(t) AND d_xy(t) >= 0.07\nservo_xy(t) := clip_norm(-1.0 * target_vector_xy(t), 0.03)\nlift: a_exec[:6]=0; a_exec[2]=+0.012; a_exec[6]=-1.0\nservo: a_exec[:6]=0; a_exec[:2]=servo_xy(t); a_exec[6]=-1.0\ndescend: a_exec[:6]=0; a_exec[:2]=0.5*servo_xy(t); a_exec[2]=-0.012; a_exec[6]=-1.0\nrelease: a_exec[:6]=0; a_exec[6]=1.0\nlift -> servo after age >= 3 OR source_lift >= 0.02\nservo -> descend after age >= 7 OR d_xy <= 0.022\ndescend -> release after age >= 3; release -> done after age >= 2\nlost := active transport AND not grasped AND phase_age > 0; lost -> done\nunilateral(t) := (F_left >= 0.5 AND F_right <= 0.02) OR (F_right >= 0.5 AND F_left <= 0.02)\nregrasp_trigger(t) := phase=idle AND not regrasp_done AND window(t) AND budget(t) AND not grasped(t) AND consecutive(unilateral AND not grasped) >= 4 AND not proposed_open(t) AND all(q_finger <= 0.025)\nregrasp_open: a_exec[:6]=0; a_exec[6]=1.0 for 1 steps\nregrasp_close: a_exec[:6]=0; a_exec[6]=-1.0 for 1 steps; then idle\na_exec(t) := exact runtime branch mode_hybrid(a_policy(t), oracle_metrics(t), phase(t))\ninterventions(t+1) := interventions(t) + [a_exec(t) != a_policy(t)]\nsuccess_latch(t) := OR_{k<=t} physical_success(k)\nif success_latch(t): a_exec[:6]=0; a_exec[6]=1.0 (budget-exempt terminal stabilization)","patch_id":"hybrid_regrasp_servo","patch_sha256":"ac482f06a158d5ac5c5627e8721de9c63db37dfff9db8372161519defd798dd0","published_effect":"unchanged_failure","schema_version":"sim_oracle_video_folder_row.v1","source_effect":"unchanged_failure","source_preintervention_action_exact":true,"task_key":"spoon_cloth"}