{
  "primary": {
    "preset": "teacher",
    "scale": 1.0,
    "nominal_fraction": 0,
    "filtering": "none; all sampled starts count",
    "horizon_s": 15,
    "terminate_on_success": false
  },
  "validation": {
    "seeds": [
      1101,
      1102,
      1103
    ],
    "episodes_per_seed": 128,
    "scales": [
      0,
      0.05,
      0.15,
      0.35,
      0.65,
      1
    ]
  },
  "final": {
    "seeds": [
      9101,
      9102,
      9103,
      9104
    ],
    "episodes_per_seed": 256,
    "selection": "freeze checkpoint using validation before final; do not tune on final"
  },
  "metrics": {
    "primary": "canonical valid bilateral grasp, >=10 cm collision-bottom clearance, speed limits, continuous 2 s hold",
    "confidence_interval": "Wilson 95%",
    "denominator": "fixed per-world quotas; incomplete suite has null final rate",
    "diagnostics": [
      "goal error",
      "high lift",
      "post-hold drops",
      "contact/motion invalidity",
      "location bins",
      "clearly labeled restricted DR"
    ],
    "prohibited": "no reachable-only metric or failure exclusions"
  },
  "promotion": "Evidence-based; no rigid 90% gate; controlled DR, trajectories and videos must support competence and explain broad failures."
}