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"split": "heldout",
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{
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{
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{
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"object_shape": "current-shoe",
"tool_condition": "mounted",
"split": "heldout"
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{
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"task": "in-reach-graspability",
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"friction": 0.54,
"object_shape": "current-shoe",
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{
"id": "grasp-fresh-02-light-easy-block-mounted",
"task": "in-reach-graspability",
"policy": "shared-v03",
"case": {
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"replicate_id": "grasp-fresh-layout-02",
"load_band": "lightweight-control",
"mass": 0.03,
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"friction": 0.91,
"object_shape": "easy-block",
"tool_condition": "mounted",
"split": "heldout"
}
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{
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"friction": 0.91,
"object_shape": "easy-block",
"tool_condition": "absent",
"split": "heldout"
}
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{
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"task": "in-reach-graspability",
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},
{
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"task": "in-reach-graspability",
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{
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"task": "in-reach-graspability",
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},
{
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"task": "in-reach-graspability",
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{
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"task": "in-reach-graspability",
"policy": "shared-v03",
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"load_band": "reference-load",
"mass": 0.3,
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"friction": 0.91,
"object_shape": "simplified-shoe",
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}
},
{
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"task": "in-reach-graspability",
"policy": "shared-v03",
"case": {
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"replicate_id": "grasp-fresh-layout-02",
"load_band": "reference-load",
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"friction": 0.91,
"object_shape": "simplified-shoe",
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}
},
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"task": "in-reach-graspability",
"policy": "shared-v03",
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"replicate_id": "grasp-fresh-layout-02",
"load_band": "reference-load",
"mass": 0.3,
"object_x": 0.429,
"object_y": -0.071,
"friction": 0.91,
"object_shape": "current-shoe",
"tool_condition": "mounted",
"split": "heldout"
}
},
{
"id": "grasp-fresh-02-reference-current-shoe-absent",
"task": "in-reach-graspability",
"policy": "shared-v03",
"case": {
"id": "grasp-fresh-02-reference",
"replicate_id": "grasp-fresh-layout-02",
"load_band": "reference-load",
"mass": 0.3,
"object_x": 0.429,
"object_y": -0.071,
"friction": 0.91,
"object_shape": "current-shoe",
"tool_condition": "absent",
"split": "heldout"
}
}
],
"criteria": {
"native_dt_s": 0.002,
"policy_dt_s": 0.02,
"initial_settle_s": 0.4,
"reference_window_s": 0.1,
"reference_axis_range_max_m": 0.001,
"reference_scope": "At the fixed 0.4 s native timestamp, the previous 50 ticks must each show world normal force >0.01 N and aggregate robot/tool normal force <0.01 N, with range <=1 mm on each position axis. The reference height is read from the native trace, never trusted from an event coordinate.",
"final_retention_s": 0.5,
"final_retention_ticks": 250,
"relative_origin_lift_min_m": 0.035,
"finger_force_min_n": 0.01,
"support_force_max_n": 0.01,
"height_scope": "Object body-origin rise >=35 mm from the verified settled reference, on every final native tick. Actual lowest collision-surface height is an additional diagnostic and does not replace the fixed criterion.",
"support_scope": "Both finger normal forces >0.01 N; world, tool and other-robot normal forces each <0.01 N during the final 500 ms. Synthetic evidence thresholds, not calibrated hardware limits.",
"abort_scope": "All planned attempts remain in the denominator. A recorded physical abort, short run or unsettled initialization cannot pass. Corrupt or incomplete native evidence is invalid and also cannot pass. No outcome-dependent exclusion or private retry."
},
"design": "Direct in-reach pickup, crossing three object shapes, two explicit loads, two tool states and two fresh layout/friction replicates: 24 confirmation attempts. A single fixed authored controller uses a declared geometry-aware grasp-position rule. Layout and friction vary jointly between the two deterministic replicates; these are not random population samples or confidence-interval estimates. Development uses one separate known layout crossed with the same two loads, three shapes and two tool states.",
"comparison": "Within each layout and load, object mass, friction, spawn position, robot actuators and control settings are matched across all six shape/tool cells. Load pairs share the same layout and friction. Changing shape necessarily changes contact geometry and inertia; removing the mounted rake changes wrist mass/inertia as well as clearance. Tool absence is a morphology ablation, not successful tool detachment. Report shape \u00d7 load \u00d7 tool results separately; never present easy-object lifts as shoe-skill success.",
"cohort_access": "The independent evaluator seals the fresh parameter cases before the final controller is frozen. Controller tuning may use development only. Do not inspect or execute fresh cases until a source freeze is recorded. After the first evaluation these cases are known regressions; rerunning them does not create new confirmation evidence.",
"scope": "Authored direct-pickup diagnostic with privileged native observations, assumed rigid-object contact properties and pinned simulation actuators. No retrieval, learned policy, tool acquisition, deformable shoe, physical grip-capacity measurement or hardware-transfer claim. Frozen v02 retrieval results remain separate regressions and are not pooled into this study.",
"source_commit": "73057dc259c6a19344906f4a43a283553e17ade0",
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