{
  "review_date": "2026-09-09",
  "snapshot_utc": "2026-09-09T06:46:21.281816+00:00",
  "scope": "Existing development evidence; all robot execution is simulation. No new experiments in this review.",
  "terminal_pairs": [
    {
      "program_id": "m3k_pivot_walk_stop_left_10s",
      "family": "pivot_walk_stop",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.16961488127708435,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 11.672595902090883,
        "max_position_error_m": 0.21821803050879376,
        "speed_MAE_mps": 0.12171692982208082,
        "success": false
      },
      "repair": {
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        "STOP_peak_mps": 0.08823351562023163,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 11.672595902090883,
        "max_position_error_m": 0.2457939432283831,
        "speed_MAE_mps": 0.12545454290351638,
        "success": false
      },
      "geometry": "new_coupled_v8_reference"
    },
    {
      "program_id": "m3k_pivot_walk_stop_left_3s",
      "family": "pivot_walk_stop",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.18054617941379547,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 5.726441332413843,
        "max_position_error_m": 0.14958038116924569,
        "speed_MAE_mps": 0.13377357243039592,
        "success": false
      },
      "repair": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.18054617941379547,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 5.726441332413843,
        "max_position_error_m": 0.14958038116924569,
        "speed_MAE_mps": 0.13377357243039592,
        "success": false
      },
      "geometry": "whole_current_fallback"
    },
    {
      "program_id": "m3k_pivot_walk_stop_left_5s",
      "family": "pivot_walk_stop",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.18397347629070282,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 7.262656628883036,
        "max_position_error_m": 0.29726478541010576,
        "speed_MAE_mps": 0.11470326336174362,
        "success": false
      },
      "repair": {
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        "STOP_peak_mps": 0.07781727612018585,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 7.262656628883036,
        "max_position_error_m": 0.4123369147779023,
        "speed_MAE_mps": 0.11728443398240349,
        "success": false
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_pivot_walk_stop_right_10s",
      "family": "pivot_walk_stop",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.21740466356277466,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.9687146077968487,
        "max_position_error_m": 0.14370309030691564,
        "speed_MAE_mps": 0.10632243766507987,
        "success": false
      },
      "repair": {
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        "STOP_peak_mps": 0.07156811654567719,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.9687146077968487,
        "max_position_error_m": 0.14370309030691564,
        "speed_MAE_mps": 0.1056902715192556,
        "success": true
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_pivot_walk_stop_right_3s",
      "family": "pivot_walk_stop",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.07639961689710617,
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        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 4.234635624643259,
        "max_position_error_m": 0.27823575302592723,
        "speed_MAE_mps": 0.12908510263825906,
        "success": false
      },
      "repair": {
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        "STOP_peak_mps": 0.06995204836130142,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 4.234635624643259,
        "max_position_error_m": 0.3682483088754473,
        "speed_MAE_mps": 0.1492648677830034,
        "success": false
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_pivot_walk_stop_right_5s",
      "family": "pivot_walk_stop",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.1851469725370407,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 6.734817502795076,
        "max_position_error_m": 0.38095221403584884,
        "speed_MAE_mps": 0.15354761922800397,
        "success": false
      },
      "repair": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.08334001153707504,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 6.734817502795076,
        "max_position_error_m": 0.4798340079517297,
        "speed_MAE_mps": 0.16227351673947135,
        "success": false
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_same_sign_pair_left_10s",
      "family": "same_sign_pair",
      "current": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.059258874505758286,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 6.550244467026528,
        "max_position_error_m": 0.17705661416376325,
        "speed_MAE_mps": 0.0970559195641564,
        "success": true
      },
      "repair": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.09373491257429123,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 6.3974834065271,
        "max_position_error_m": 0.18582851568349115,
        "speed_MAE_mps": 0.09866136324797012,
        "success": true
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_same_sign_pair_left_3s",
      "family": "same_sign_pair",
      "current": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.06132267042994499,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 5.652261306319827,
        "max_position_error_m": 0.19244742232217044,
        "speed_MAE_mps": 0.11672851258085849,
        "success": true
      },
      "repair": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.05689330771565437,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 5.1505459719162845,
        "max_position_error_m": 0.19672799613273903,
        "speed_MAE_mps": 0.11549713518741855,
        "success": true
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_same_sign_pair_left_5s",
      "family": "same_sign_pair",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.04874928668141365,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 4.704204094680353,
        "max_position_error_m": 0.32392814611433457,
        "speed_MAE_mps": 0.12887177079234613,
        "success": false
      },
      "repair": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.05207660049200058,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 4.704204094680353,
        "max_position_error_m": 0.32392814611433457,
        "speed_MAE_mps": 0.12850608837711863,
        "success": false
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_same_sign_pair_right_10s",
      "family": "same_sign_pair",
      "current": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.056678179651498795,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.874247174006544,
        "max_position_error_m": 0.19555025669885018,
        "speed_MAE_mps": 0.10103151764524858,
        "success": true
      },
      "repair": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.05705108866095543,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.874247174006544,
        "max_position_error_m": 0.19555025669885018,
        "speed_MAE_mps": 0.10089178338386308,
        "success": true
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_same_sign_pair_right_3s",
      "family": "same_sign_pair",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": null,
        "STOP_speed_observed": false,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": false,
        "max_heading_error_deg": 4.919487648749315,
        "max_position_error_m": 0.13924864957433075,
        "speed_MAE_mps": 0.1731804591231048,
        "success": false
      },
      "repair": {
        "STOP_full_phase": false,
        "STOP_peak_mps": null,
        "STOP_speed_observed": false,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": false,
        "max_heading_error_deg": 4.919487648749315,
        "max_position_error_m": 0.14010082073594438,
        "speed_MAE_mps": 0.17335631964728235,
        "success": false
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_same_sign_pair_right_5s",
      "family": "same_sign_pair",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.10656348615884781,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 6.77464980280133,
        "max_position_error_m": 0.1543696911282201,
        "speed_MAE_mps": 0.12510127929034037,
        "success": false
      },
      "repair": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.10554239898920059,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 6.77464980280133,
        "max_position_error_m": 0.1583030975654086,
        "speed_MAE_mps": 0.12750025839855275,
        "success": false
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_strafe_walk_stop_left_10s",
      "family": "strafe_walk_stop",
      "current": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.06530532985925674,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 4.904934595813098,
        "max_position_error_m": 0.16873833970593463,
        "speed_MAE_mps": 0.09190095307367134,
        "success": true
      },
      "repair": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.1131737232208252,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 5.175152997073007,
        "max_position_error_m": 0.31345817590020825,
        "speed_MAE_mps": 0.10119251884501557,
        "success": false
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_strafe_walk_stop_left_3s",
      "family": "strafe_walk_stop",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.18991124629974365,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.144174138261131,
        "max_position_error_m": 0.19985975485631174,
        "speed_MAE_mps": 0.10755022804839466,
        "success": false
      },
      "repair": {
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        "STOP_peak_mps": 0.07853250950574875,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.144174138261131,
        "max_position_error_m": 0.25363232706149497,
        "speed_MAE_mps": 0.11704874314499773,
        "success": false
      },
      "geometry": "new_coupled_v8_reference"
    },
    {
      "program_id": "m3k_strafe_walk_stop_left_5s",
      "family": "strafe_walk_stop",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.2138867974281311,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 6.7235966650832655,
        "max_position_error_m": 0.18411883319704517,
        "speed_MAE_mps": 0.10788439520771521,
        "success": false
      },
      "repair": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.06052296981215477,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 6.7235966650832655,
        "max_position_error_m": 0.24804596928095665,
        "speed_MAE_mps": 0.10896793483693346,
        "success": false
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_strafe_walk_stop_right_10s",
      "family": "strafe_walk_stop",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.07994989305734634,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 4.507436903653154,
        "max_position_error_m": 0.3347280670707528,
        "speed_MAE_mps": 0.09027314635844816,
        "success": false
      },
      "repair": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.10921229422092438,
        "STOP_speed_observed": true,
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        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 4.507436903653154,
        "max_position_error_m": 0.4784332762754917,
        "speed_MAE_mps": 0.10017070056585327,
        "success": false
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_strafe_walk_stop_right_3s",
      "family": "strafe_walk_stop",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.11838102340698242,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.8760531604305783,
        "max_position_error_m": 0.16529026079640086,
        "speed_MAE_mps": 0.0943028467824668,
        "success": false
      },
      "repair": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.08139847964048386,
        "STOP_speed_observed": true,
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        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.8760531604305783,
        "max_position_error_m": 0.16568871645641928,
        "speed_MAE_mps": 0.10402442495573284,
        "success": true
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_strafe_walk_stop_right_5s",
      "family": "strafe_walk_stop",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.22149395942687988,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 4.989453572841316,
        "max_position_error_m": 0.16025384350749883,
        "speed_MAE_mps": 0.12153368882413979,
        "success": false
      },
      "repair": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.1578149050474167,
        "STOP_speed_observed": true,
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        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 4.989453572841316,
        "max_position_error_m": 0.16025384350749883,
        "speed_MAE_mps": 0.12138210395593095,
        "success": false
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_walk_pivot_stop_left_10s",
      "family": "walk_pivot_stop",
      "current": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.12328802794218063,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 14.181114029363899,
        "max_position_error_m": 0.20428146043086526,
        "speed_MAE_mps": 0.10504342043982813,
        "success": false
      },
      "repair": {
        "STOP_full_phase": false,
        "STOP_peak_mps": 0.13036224246025085,
        "STOP_speed_observed": true,
        "STOP_speed_only": false,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 10.089599729968374,
        "max_position_error_m": 0.20841401302621163,
        "speed_MAE_mps": 0.10780704160736694,
        "success": false
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_walk_pivot_stop_left_3s",
      "family": "walk_pivot_stop",
      "current": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.06276734918355942,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.4092931795058736,
        "max_position_error_m": 0.11415725308924779,
        "speed_MAE_mps": 0.10037621000334326,
        "success": true
      },
      "repair": {
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        "STOP_peak_mps": 0.04633980244398117,
        "STOP_speed_observed": true,
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        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.2728137748206043,
        "max_position_error_m": 0.11415725308924779,
        "speed_MAE_mps": 0.09918870151479266,
        "success": true
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_walk_pivot_stop_left_5s",
      "family": "walk_pivot_stop",
      "current": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.04026300087571144,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 4.708663897269779,
        "max_position_error_m": 0.15805295786689938,
        "speed_MAE_mps": 0.09476481143890297,
        "success": true
      },
      "repair": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.05961529165506363,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.831523619298439,
        "max_position_error_m": 0.15805295786689938,
        "speed_MAE_mps": 0.09613451436067286,
        "success": true
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_walk_pivot_stop_right_10s",
      "family": "walk_pivot_stop",
      "current": {
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        "max_position_error_m": 0.18779881343492158,
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        "success": true
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        "STOP_peak_mps": 0.10776790976524353,
        "STOP_speed_observed": true,
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        "fell": false,
        "full_duration": true,
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        "success": false
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      "geometry": "v5_exact_passthrough"
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    {
      "program_id": "m3k_walk_pivot_stop_right_3s",
      "family": "walk_pivot_stop",
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        "STOP_full_phase": true,
        "STOP_peak_mps": 0.07662194222211838,
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        "max_position_error_m": 0.14332350206846337,
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        "success": true
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      "repair": {
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        "STOP_peak_mps": 0.0553881898522377,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.3297908623735384,
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        "speed_MAE_mps": 0.11083911910957443,
        "success": true
      },
      "geometry": "v5_exact_passthrough"
    },
    {
      "program_id": "m3k_walk_pivot_stop_right_5s",
      "family": "walk_pivot_stop",
      "current": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.062223080545663834,
        "STOP_speed_observed": true,
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        "full_duration": true,
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        "success": false
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      "repair": {
        "STOP_full_phase": true,
        "STOP_peak_mps": 0.056079305708408356,
        "STOP_speed_observed": true,
        "STOP_speed_only": true,
        "fell": false,
        "full_duration": true,
        "max_heading_error_deg": 3.9615772485584935,
        "max_position_error_m": 0.2171293231941333,
        "speed_MAE_mps": 0.10718325197928198,
        "success": false
      },
      "geometry": "v5_exact_passthrough"
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  ],
  "governor_replay": {
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      {
        "program_id": "m3k_pivot_walk_stop_left_10s",
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        "reason": "no_admissible_update_retain_current",
        "current_success": false,
        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_pivot_walk_stop_left_3s",
        "selected_index": 9,
        "reason": "no_admissible_update_retain_current",
        "current_success": false,
        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_pivot_walk_stop_left_5s",
        "selected_index": 9,
        "reason": "no_admissible_update_retain_current",
        "current_success": false,
        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_pivot_walk_stop_right_10s",
        "selected_index": 0,
        "reason": "repair_predicted_violation_with_admissible_reference",
        "current_success": false,
        "repair_success": true,
        "selected_success": true
      },
      {
        "program_id": "m3k_pivot_walk_stop_right_3s",
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        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_pivot_walk_stop_right_5s",
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        "reason": "no_admissible_update_retain_current",
        "current_success": false,
        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_same_sign_pair_left_10s",
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        "reason": "retain_predicted_compliant_current",
        "current_success": true,
        "repair_success": true,
        "selected_success": true
      },
      {
        "program_id": "m3k_same_sign_pair_left_3s",
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        "reason": "no_admissible_update_retain_current",
        "current_success": true,
        "repair_success": true,
        "selected_success": true
      },
      {
        "program_id": "m3k_same_sign_pair_left_5s",
        "selected_index": 9,
        "reason": "no_admissible_update_retain_current",
        "current_success": false,
        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_same_sign_pair_right_10s",
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        "reason": "retain_predicted_compliant_current",
        "current_success": true,
        "repair_success": true,
        "selected_success": true
      },
      {
        "program_id": "m3k_same_sign_pair_right_3s",
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        "reason": "retain_predicted_compliant_current",
        "current_success": false,
        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_same_sign_pair_right_5s",
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        "reason": "retain_predicted_compliant_current",
        "current_success": false,
        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_strafe_walk_stop_left_10s",
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        "reason": "no_admissible_update_retain_current",
        "current_success": true,
        "repair_success": false,
        "selected_success": true
      },
      {
        "program_id": "m3k_strafe_walk_stop_left_3s",
        "selected_index": 9,
        "reason": "no_admissible_update_retain_current",
        "current_success": false,
        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_strafe_walk_stop_left_5s",
        "selected_index": 9,
        "reason": "no_admissible_update_retain_current",
        "current_success": false,
        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_strafe_walk_stop_right_10s",
        "selected_index": 9,
        "reason": "no_admissible_update_retain_current",
        "current_success": false,
        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_strafe_walk_stop_right_3s",
        "selected_index": 0,
        "reason": "repair_predicted_violation_with_admissible_reference",
        "current_success": false,
        "repair_success": true,
        "selected_success": true
      },
      {
        "program_id": "m3k_strafe_walk_stop_right_5s",
        "selected_index": 9,
        "reason": "no_admissible_update_retain_current",
        "current_success": false,
        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_walk_pivot_stop_left_10s",
        "selected_index": 9,
        "reason": "no_admissible_update_retain_current",
        "current_success": false,
        "repair_success": false,
        "selected_success": false
      },
      {
        "program_id": "m3k_walk_pivot_stop_left_3s",
        "selected_index": 9,
        "reason": "retain_predicted_compliant_current",
        "current_success": true,
        "repair_success": true,
        "selected_success": true
      },
      {
        "program_id": "m3k_walk_pivot_stop_left_5s",
        "selected_index": 9,
        "reason": "retain_predicted_compliant_current",
        "current_success": true,
        "repair_success": true,
        "selected_success": true
      },
      {
        "program_id": "m3k_walk_pivot_stop_right_10s",
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        "reason": "retain_predicted_compliant_current",
        "current_success": true,
        "repair_success": false,
        "selected_success": true
      },
      {
        "program_id": "m3k_walk_pivot_stop_right_3s",
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        "current_success": true,
        "repair_success": true,
        "selected_success": true
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      {
        "program_id": "m3k_walk_pivot_stop_right_5s",
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        "reason": "no_admissible_update_retain_current",
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        "repair_success": false,
        "selected_success": false
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    ],
    "summary": {
      "available_repair_gains_not_selected": 0,
      "current": {
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        "censored_physical_labels": 1,
        "full_STOP_phase_passes": 9,
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        "physical_terminations": 1,
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      "current_retained_decisions": 22,
      "empirical_two_reference_task_union": 10,
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        "censored_physical_labels": 1,
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        "geometric_falls": 0,
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        "mean_max_position_error_m": 0.2036952458057083,
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      "reference_update_decisions": 2,
      "unconditional_losses_avoided": 2,
      "unconditional_repair": {
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        "censored_physical_labels": 1,
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        "geometric_falls": 0,
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        "mean_max_heading_error_deg": 5.586097564154333,
        "mean_max_position_error_m": 0.23541227617232127,
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        "physical_terminations": 1,
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        "runtime_quality_accepted": 11,
        "task_and_runtime_quality_successes": 7,
        "task_successes": 8
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    },
    "new_physics": 0,
    "posthoc": true
  },
  "live_pelvis": {
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        "runtime_preparation_wall_s": 25.117298593046144,
        "physics_paused": true
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      {
        "case_id": "right__governor",
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        "false_point_accept": true,
        "point_admissible": true,
        "predicted_STOP_peak_mps": 0.09600468155505307,
        "prediction_may_be_partial_actual_label": false,
        "selected_index": 1,
        "worker_wall_s": 24.91069993301062,
        "runtime_preparation_wall_s": 27.54278245900059,
        "physics_paused": true
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      {
        "case_id": "right__repair_only_zero",
        "program_id": "m3k_strafe_walk_stop_right_5s",
        "actual_STOP_peak_mps": 0.15021242201328278,
        "actual_minus_predicted_mps": 0.03194808125277916,
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        "point_admissible": false,
        "predicted_STOP_peak_mps": 0.11826434076050361,
        "prediction_may_be_partial_actual_label": false,
        "selected_index": 0,
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        "runtime_preparation_wall_s": 23.278574344003573,
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    ],
    "right_effect": {
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      "actual_offset_minus_zero_mps": 0.00830051302909851
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    "captures": 3,
    "successes": 0
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  "offset_comparison": {
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        "nominal_speed_mae_mps": 0.0192832999921032,
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      {
        "horizon_s": 0.5,
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        "nominal_xy_rmse_m": 0.009076810749852504,
        "offset_xy_rmse_m": 0.009186958291332764,
        "nominal_speed_mae_mps": 0.03161421040168006,
        "offset_speed_mae_mps": 0.03199029677913493
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      {
        "horizon_s": 1.0,
        "programs": 23,
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        "nominal_speed_mae_mps": 0.032830408668737356,
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        "horizon_s": 1.5,
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        "nominal_speed_mae_mps": 0.02776633092936531,
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    "new_forecasts": 24,
    "exact_reuses": 24,
    "false_safe_counts": {
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          "slots": 6
        },
        "STOP_speed_label_evaluable": {
          "programs": 23,
          "slots": 46
        },
        "complete_model_task_label_evaluable": {
          "programs": 24,
          "slots": 48
        },
        "predicted_root_task_pass": {
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        "recorded_termination_despite_predicted_root_task_pass": {
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        "root_task_false_safe": {
          "programs": 3,
          "slots": 5
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      "updated": {
        "STOP_speed_false_safe": {
          "programs": 4,
          "slots": 6
        },
        "STOP_speed_label_evaluable": {
          "programs": 23,
          "slots": 46
        },
        "complete_model_task_label_evaluable": {
          "programs": 24,
          "slots": 48
        },
        "predicted_root_task_pass": {
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          "slots": 19
        },
        "recorded_termination_despite_predicted_root_task_pass": {
          "programs": 1,
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        },
        "root_task_false_safe": {
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          "slots": 5
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  "historical_confirmation_extension": {
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      "first_early_endings": 2,
      "first_falls": 0,
      "first_mean_sliding": 0.13604931638700296,
      "first_stop_available": 10,
      "first_successes": 3,
      "fixed_successes": 2,
      "minimum_jerk_gains_vs_first": [
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        "m3k_reverse_pair_right_3s"
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      "minimum_jerk_losses_vs_first": [
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      "minimum_jerk_slide_regressions_vs_first": 0,
      "minimum_jerk_successes": 4,
      "programs": 12
    },
    "1702": {
      "first_early_endings": 0,
      "first_falls": 0,
      "first_mean_sliding": 0.14758578382177934,
      "first_stop_available": 12,
      "first_successes": 1,
      "fixed_successes": 2,
      "minimum_jerk_gains_vs_first": [
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      "minimum_jerk_losses_vs_first": [],
      "minimum_jerk_slide_regressions_vs_first": 2,
      "minimum_jerk_successes": 2,
      "programs": 12
    },
    "1703": {
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      "first_falls": 0,
      "first_mean_sliding": 0.12380313107184708,
      "first_stop_available": 12,
      "first_successes": 5,
      "fixed_successes": 1,
      "minimum_jerk_gains_vs_first": [],
      "minimum_jerk_losses_vs_first": [
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        "m3k_reverse_pair_right_5s"
      ],
      "minimum_jerk_slide_regressions_vs_first": 1,
      "minimum_jerk_successes": 3,
      "programs": 12
    }
  },
  "incomplete_binary_live": {
    "attempts.jsonl": [
      {
        "slot": 0,
        "case_id": "binary__m3k_pivot_walk_stop_left_10s",
        "status": "started",
        "qualified": false
      },
      {
        "slot": 1,
        "case_id": "binary__m3k_pivot_walk_stop_left_3s",
        "status": "started",
        "qualified": false
      },
      {
        "slot": 2,
        "case_id": "binary__m3k_pivot_walk_stop_left_5s",
        "status": "started",
        "qualified": false
      }
    ],
    "execution.jsonl": [
      {
        "slot": 0,
        "case_id": "binary__m3k_pivot_walk_stop_left_10s",
        "status": "qualified",
        "qualified": true
      },
      {
        "slot": 1,
        "case_id": "binary__m3k_pivot_walk_stop_left_3s",
        "status": "qualified",
        "qualified": true
      }
    ],
    "planned_slots": 24,
    "completed_receipt_exists": false,
    "interpretation": "Incomplete allocation snapshot; no all-24 performance estimate."
  },
  "final_36": "Reported sealed in the source records; inputs and outcomes not opened in this review.",
  "verification_scope": "Recounted audit rows and recomputed selected differences; no raw trajectory/model/physics replay.",
  "source_sha256": {
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}