{
  "generated_utc": "2026-07-31 07:55:33Z",
  "seeds": {
    "n": 3,
    "incr_mean": -0.009137061718228529,
    "incr_std": 0.005614727687208816,
    "incr_all": [
      -0.010297063318744483,
      -0.01408118656974655,
      -0.003032935266194556
    ],
    "sign_stable": true
  },
  "tokenizer": "cosmos-cv4x8x8",
  "zero_baseline": 1.2195221489913883,
  "verdict": "NO TRANSFER",
  "verdict_reason": "the encoder learns well (D beats zero by 32.3%, C by 33.0%), but the action map adds NOTHING over tactile-only (D is 1.0% worse than C; Wan2.2 had D +3.3% over C). The conditioning signal Stages 2-3 inject is redundant here.",
  "missing": [],
  "detail": {
    "encoder_learns": true,
    "gain_D": 0.3231413374794808,
    "gain_C": 0.3300399584483667,
    "gain_B": 0.13466337652536914,
    "gain_D_wan22": 0.2990074441687346,
    "gain_C_wan22": 0.27543424317617876,
    "action_map_increment": -0.010297063318744483,
    "action_map_increment_wan22": 0.0325342465753425
  },
  "wan22_reference": {
    "zero": 1.612,
    "B": 1.362,
    "C": 1.168,
    "D": 1.13
  },
  "runs": {
    "D": {
      "epochs": 12,
      "best_epoch": 10,
      "best_epe_act": 0.8254441306804604,
      "zero": 1.2195221489913883,
      "cos_act": 0.7175056796364031,
      "n_act": 1498074.0,
      "history": [
        {
          "epoch": 0,
          "epe_act": 0.9605787933268817
        },
        {
          "epoch": 1,
          "epe_act": 0.9348434744378449
        },
        {
          "epoch": 2,
          "epe_act": 0.8828374278406808
        },
        {
          "epoch": 3,
          "epe_act": 0.8611758787345452
        },
        {
          "epoch": 4,
          "epe_act": 0.8529004288381281
        },
        {
          "epoch": 5,
          "epe_act": 0.8507578418188955
        },
        {
          "epoch": 6,
          "epe_act": 0.8377636664122566
        },
        {
          "epoch": 7,
          "epe_act": 0.8280339638387356
        },
        {
          "epoch": 8,
          "epe_act": 0.8312250103612204
        },
        {
          "epoch": 9,
          "epe_act": 0.8349607745303302
        },
        {
          "epoch": 10,
          "epe_act": 0.8254441306804604
        },
        {
          "epoch": 11,
          "epe_act": 0.8261856452852129
        }
      ],
      "label": "(z_ctx, a) -> F",
      "inputs": "action map + tactile state",
      "wan22": 1.13
    },
    "B": {
      "epochs": 12,
      "best_epoch": 5,
      "best_epe_act": 1.0552971786607337,
      "zero": 1.2195221489913883,
      "cos_act": 0.5307809954544135,
      "n_act": 1498074.0,
      "history": [
        {
          "epoch": 0,
          "epe_act": 1.0741809188727494
        },
        {
          "epoch": 1,
          "epe_act": 1.061016501437846
        },
        {
          "epoch": 2,
          "epe_act": 1.069663850728085
        },
        {
          "epoch": 3,
          "epe_act": 1.068559471768
        },
        {
          "epoch": 4,
          "epe_act": 1.0646700806543936
        },
        {
          "epoch": 5,
          "epe_act": 1.0552971786607337
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        {
          "epoch": 6,
          "epe_act": 1.0647077761908792
        },
        {
          "epoch": 7,
          "epe_act": 1.0679873348003837
        },
        {
          "epoch": 8,
          "epe_act": 1.0688091347832283
        },
        {
          "epoch": 9,
          "epe_act": 1.06825026224297
        },
        {
          "epoch": 10,
          "epe_act": 1.0628287385064923
        },
        {
          "epoch": 11,
          "epe_act": 1.060371386652128
        }
      ],
      "label": "action only",
      "inputs": "action map only",
      "wan22": 1.362
    },
    "C": {
      "epochs": 12,
      "best_epoch": 10,
      "best_epe_act": 0.8170311096114077,
      "zero": 1.2195221489913883,
      "cos_act": 0.7111024996199287,
      "n_act": 1498074.0,
      "history": [
        {
          "epoch": 0,
          "epe_act": 1.0153684753097978
        },
        {
          "epoch": 1,
          "epe_act": 0.9442839958068661
        },
        {
          "epoch": 2,
          "epe_act": 0.8959794454204199
        },
        {
          "epoch": 3,
          "epe_act": 0.8642495010468442
        },
        {
          "epoch": 4,
          "epe_act": 0.8695887968067666
        },
        {
          "epoch": 5,
          "epe_act": 0.835388154014755
        },
        {
          "epoch": 6,
          "epe_act": 0.8302797641129543
        },
        {
          "epoch": 7,
          "epe_act": 0.8331439821334761
        },
        {
          "epoch": 8,
          "epe_act": 0.8184054471775093
        },
        {
          "epoch": 9,
          "epe_act": 0.8193139157344698
        },
        {
          "epoch": 10,
          "epe_act": 0.8170311096114077
        },
        {
          "epoch": 11,
          "epe_act": 0.8189975564040896
        }
      ],
      "label": "tactile only",
      "inputs": "tactile state only",
      "wan22": 1.168
    }
  }
}