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  "new_action_history_groups": [
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        {
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          "geometry_only_choice": "local_duck"
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      ]
    },
    {
      "case": "beam_lower20-public_qualified-96162",
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          "geometry_only_choice": "local_duck"
        },
        {
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          "geometry_only_choice": "local_duck"
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      ]
    },
    {
      "case": "clear-public_qualified-96167",
      "held": "actual entry, bank, goal and motor; change map/task context",
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        {
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          "geometry_only_choice": "local_duck"
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      ]
    },
    {
      "case": "beam-public_qualified-96167",
      "held": "actual entry, bank, goal and motor; change map/task context",
      "choices": [
        {
          "context": "clear",
          "qualified_choice": "nominal",
          "geometry_only_choice": "nominal"
        },
        {
          "context": "beam",
          "qualified_choice": "local_duck",
          "geometry_only_choice": "local_duck"
        },
        {
          "context": "beam_lower20",
          "qualified_choice": "local_duck",
          "geometry_only_choice": "local_duck"
        }
      ]
    },
    {
      "case": "beam_lower20-public_qualified-96167",
      "held": "actual entry, bank, goal and motor; change map/task context",
      "choices": [
        {
          "context": "clear",
          "qualified_choice": "nominal",
          "geometry_only_choice": "nominal"
        },
        {
          "context": "beam",
          "qualified_choice": "local_duck",
          "geometry_only_choice": "local_duck"
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        {
          "context": "beam_lower20",
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          "geometry_only_choice": "local_duck"
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  "decision": "Connection to qualified original-motor references is tested. Geometry-only ties are not evidence-filter superiority; move to distinct requests.",
  "scope": "Six familiar public integration executions. Fourteen old qualification executions include six selected fixed controls; reused data and software probes are separate. No independent source/scene generalization, continuous safe envelope or camera input."
}