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"role": "diverse", "solution_kind": "diverse_repeat_group", "color_order": [ "purple", "yellow", "white" ], "semantic_order": [ "hang_purple", "hang_yellow", "hang_white" ], "independent_executions": 2, "evidence": "user_attestation", "instances": [ { "episode_index": 15, "subtask_segments": [ { "original_subtask_id": "001", "semantic_id": "hang_purple", "object_id": "mug_purple", "action": "hang_on_available_hook", "start_frame": 8, "end_frame_exclusive": 205, "arm_roles": { "right": "hang_purple" } }, { "original_subtask_id": "002", "semantic_id": "hang_yellow", "object_id": "mug_yellow", "action": "hang_on_available_hook", "start_frame": 205, "end_frame_exclusive": 380, "arm_roles": { "left": "hang_yellow" } }, { "original_subtask_id": "003", "semantic_id": "hang_white", "object_id": "mug_white", "action": "hang_on_available_hook", "start_frame": 380, "end_frame_exclusive": 566, "arm_roles": { "right": "hang_white" } } ] }, { "episode_index": 17, "subtask_segments": [ { "original_subtask_id": "001", "semantic_id": "hang_purple", "object_id": "mug_purple", "action": "hang_on_available_hook", "start_frame": 8, "end_frame_exclusive": 173, "arm_roles": { "right": "hang_purple" } }, { "original_subtask_id": "002", "semantic_id": "hang_yellow", "object_id": "mug_yellow", "action": "hang_on_available_hook", "start_frame": 173, "end_frame_exclusive": 376, "arm_roles": { "left": "hang_yellow" } }, { "original_subtask_id": "003", "semantic_id": "hang_white", "object_id": "mug_white", "action": "hang_on_available_hook", "start_frame": 376, "end_frame_exclusive": 528, "arm_roles": { "right": "hang_white" } } ] } ] } ] } ], "scoring": "Original semantic-gain-symmetric-ratio-v2: normal repeats collapse to one semantic median profile; diverse executions remain separate; no group averaging added." }