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      "soil_contact_qualified_completions": false
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    "target": {
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    "target": false
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  "checkpoint_promoted": false,
  "execution_accounting": {
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      "rollouts": 256,
      "transitions": 24576,
      "optimizer_steps": 1024
    },
    "scheduled_discarded_attempts": [
      {
        "attempt": 0,
        "outcome": "SIGTERM",
        "launcher_exit_code": 143,
        "cause": "unknown",
        "log_folder": "STUDY/training/scheduled/interrupted-phase-1-attempt-0",
        "discarded_transitions": 5448,
        "discarded_optimizer_steps": 224,
        "weights_carried_forward": false
      },
      {
        "attempt": 1,
        "outcome": "SIGTERM",
        "launcher_exit_code": 143,
        "cause": "unknown",
        "log_folder": "STUDY/training/scheduled/interrupted-phase-1-attempt-1",
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        "weights_carried_forward": false
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    "scheduled_total_executed_training_transitions": 33492,
    "scheduled_total_executed_optimizer_steps": 1392,
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    "smoke": {
      "rollouts": 8,
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      "optimizer_steps": 32,
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    },
    "interpretation": "Retained learning budgets match; physical compute budgets do not. Interrupted phase weights were discarded. Both archived prefixes exactly match the final serialized recovery. Evaluations and probes are separate from training counts."
  }
}
