{
  "schema": "roboprog.tactile-backbone-space.v1",
  "source_commit": "deabc7f5a4c98fcc2465157d7083e9113ec42c56",
  "protocol": {
    "benchmark": "TacEx v4 PegInsert",
    "perception_regime": "Onboard proprioception plus bilateral eight-sample PhysX force history (non-privileged)",
    "policy_seeds": [5, 6, 7, 8, 9],
    "session_seeds_per_study": {"S1": 1000, "S2": 2000},
    "cross_family_session_provenance": "Each family and depth study ran its own S1/S2 simulator sessions; cross-family rows are not one shared matched cohort",
    "episodes_per_seed_condition": {
      "family_and_depth_treatment_cells": 256,
      "rerun_dp100_control": 512
    },
    "pooled_episodes_per_condition": 1280,
    "pairing": "Equal ordered reset-state hashes, then episode index",
    "ci95_method": "Equal-tailed Clopper-Pearson inversion for live-win probability among discordant pairs, transformed to paired-count contrast",
    "claim_boundary": "Loss-surface evidence only; no tactile-reliance claim"
  },
  "families": [
    {
      "id": "act",
      "label": "ACT",
      "params": "72.5M",
      "study_id": "tactile_sixth_backbone_v1",
      "study_label": "sixth-family sessions",
      "status": "negative control",
      "status_detail": "not adjudicated",
      "freeze": "c7144cd",
      "S1": {"delta": -5, "ci95": [-37.68759132071194, 27.800648248469585], "signs": 3, "live": 336, "ablated": 341},
      "S2": {"delta": 18, "ci95": [-14.578112358880379, 50.163136368304116], "signs": 3, "live": 318, "ablated": 300}
    },
    {
      "id": "mlp",
      "label": "MLP",
      "params": "68.5M",
      "study_id": "tactile_third_backbone_v1",
      "study_label": "third-family sessions",
      "status": "unresolved",
      "status_detail": "family study",
      "freeze": "0f96d0b",
      "S1": {"delta": -2, "ci95": [-35.02781997371455, 31.07219370606311], "signs": 2, "live": 313, "ablated": 315},
      "S2": {"delta": 8, "ci95": [-25.125621742227523, 40.94812404076953], "signs": 2, "live": 281, "ablated": 273}
    },
    {
      "id": "gru",
      "label": "GRU",
      "params": "68.33M",
      "study_id": "tactile_fourth_backbone_v1",
      "study_label": "fourth-family sessions",
      "status": "unresolved",
      "status_detail": "family study",
      "freeze": "65d1f90",
      "S1": {"delta": 9, "ci95": [-24.429963251817536, 42.23395717166658], "signs": 3, "live": 339, "ablated": 330},
      "S2": {"delta": 28, "ci95": [-6.592123044121244, 62.02216382873716], "signs": 2, "live": 312, "ablated": 284}
    },
    {
      "id": "refiner",
      "label": "Refiner",
      "params": "68.35M",
      "study_id": "tactile_fifth_backbone_v1",
      "study_label": "fifth-family sessions",
      "status": "unresolved",
      "status_detail": "family study",
      "freeze": "fe38cf9",
      "S1": {"delta": 16, "ci95": [-17.87961125764543, 49.53990752309308], "signs": 4, "live": 319, "ablated": 303},
      "S2": {"delta": 19, "ci95": [-14.948142633467993, 52.54617942463843], "signs": 4, "live": 314, "ablated": 295}
    },
    {
      "id": "flow",
      "label": "Flow matching",
      "params": "68.34M",
      "study_id": "tactile_sixth_backbone_v1",
      "study_label": "sixth-family sessions",
      "status": "diffusion-like",
      "status_detail": "definitive family classification",
      "freeze": "c7144cd",
      "S1": {"delta": 32, "ci95": [-0.331602696183495, 63.58201997714855], "signs": 5, "live": 307, "ablated": 275},
      "S2": {"delta": 79, "ci95": [46.14658112295491, 110.13011136476096], "signs": 5, "live": 305, "ablated": 226}
    },
    {
      "id": "dp",
      "label": "Diffusion",
      "params": "68.34M",
      "study_id": "tactile_sixth_backbone_v1",
      "study_label": "sixth-family sessions",
      "status": "positive control",
      "status_detail": "pass",
      "freeze": "c7144cd",
      "S1": {"delta": 30, "ci95": [-2.3377605253132288, 61.63505311679461], "signs": 4, "live": 289, "ablated": 259},
      "S2": {"delta": 79, "ci95": [47.05544973141106, 109.12707466980994], "signs": 5, "live": 281, "ablated": 202}
    }
  ],
  "depth_studies": [
    {
      "id": "original",
      "label": "Original depth probe",
      "date": "2026-08-29",
      "freeze": "1b584a4",
      "verdict": "VOID",
      "verdict_detail": "S1 positive control was +29/1280 against the inclusive +30 gate",
      "normalization": "All cells use 1280 episodes per condition",
      "arms": [
        {"id": "dp100", "label": "100 steps", "S1": {"delta": 29, "ci95": [-2.782442283723295, 60.07805441937613], "normalized_delta": 29, "n": 1280, "signs": 4, "live": 299, "ablated": 270}, "S2": {"delta": 90, "ci95": [58.725080296702856, 119.16179196853597], "normalized_delta": 90, "n": 1280, "signs": 5, "live": 293, "ablated": 203}},
        {"id": "dp8", "label": "8 steps", "S1": {"delta": 54, "ci95": [21.613828548926108, 85.14028902391017], "normalized_delta": 54, "n": 1280, "signs": 4, "live": 299, "ablated": 245}, "S2": {"delta": 82, "ci95": [50.882666110094064, 111.14587112988583], "normalized_delta": 82, "n": 1280, "signs": 5, "live": 284, "ablated": 202}},
        {"id": "dp4", "label": "4 steps", "S1": {"delta": 57, "ci95": [25.359522327780326, 87.26617059745203], "normalized_delta": 57, "n": 1280, "signs": 5, "live": 237, "ablated": 180}, "S2": {"delta": 50, "ci95": [20.445639806609755, 78.16172729644197], "normalized_delta": 50, "n": 1280, "signs": 5, "live": 175, "ablated": 125}},
        {"id": "act", "label": "ACT anchor", "S1": {"delta": -13, "ci95": [-46.17164275775526, 20.454768861613648], "normalized_delta": -13, "n": 1280, "signs": 0, "live": 333, "ablated": 346}, "S2": {"delta": 10, "ci95": [-21.79985124771004, 41.55801060058941], "normalized_delta": 10, "n": 1280, "signs": 2, "live": 301, "ablated": 291}}
      ],
      "artifacts_sha256": {
        "S1": "f317700e4d4d48c4990352ac106482633da89d14fe31a8d7fe2a041b3465b02e",
        "S2": "15d44ecfff768ea35e5f9a5cbde5da076468a107026fbbd5e6200be0fbaaa86d"
      }
    },
    {
      "id": "rerun",
      "label": "Preregistered rerun",
      "date": "2026-09-02",
      "freeze": "8dd05a2",
      "verdict": "PERSISTS",
      "verdict_detail": "dp4 cleared the frozen control and competence gates in both sessions",
      "normalization": "dp100 uses 2560 episodes per condition; its curve value is divided by two for a per-1280 comparison",
      "arms": [
        {"id": "dp100", "label": "100 steps", "S1": {"delta": 107, "ci95": [62.522354308683745, 150.2123817036143], "normalized_delta": 53.5, "n": 2560, "signs": 5, "live": 572, "ablated": 465}, "S2": {"delta": 173, "ci95": [127.95100707470506, 216.1469051845562], "normalized_delta": 86.5, "n": 2560, "signs": 5, "live": 604, "ablated": 431}},
        {"id": "dp8", "label": "8 steps", "S1": {"delta": 53, "ci95": [19.920338808708493, 84.90728364104159], "normalized_delta": 53, "n": 1280, "signs": 5, "live": 308, "ablated": 255}, "S2": {"delta": 89, "ci95": [58.60963811407937, 117.18662659267343], "normalized_delta": 89, "n": 1280, "signs": 5, "live": 278, "ablated": 189}},
        {"id": "dp4", "label": "4 steps", "S1": {"delta": 66, "ci95": [34.335824204146626, 96.0915415560386], "normalized_delta": 66, "n": 1280, "signs": 4, "live": 236, "ablated": 170}, "S2": {"delta": 54, "ci95": [23.967324757338957, 82.58297837335758], "normalized_delta": 54, "n": 1280, "signs": 5, "live": 184, "ablated": 130}},
        {"id": "act", "label": "ACT anchor", "S1": {"delta": -1, "ci95": [-34.456757471615354, 32.47837612667811], "normalized_delta": -1, "n": 1280, "signs": 3, "live": 331, "ablated": 332}, "S2": {"delta": 22, "ci95": [-10.70835501038349, 54.20506491230992], "normalized_delta": 22, "n": 1280, "signs": 2, "live": 313, "ablated": 291}}
      ],
      "artifacts_sha256": {
        "S1": "9ba74fcf7ea73a3bebbc6569800f8263fb2d37e2cf12432fce67116e15512061",
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  ]
}