{"revision":"fedce3c41d122b9f2cba6584e7aecce68a365a23","selection":"Selected successful executions, visually reviewed for clear grasp, transport and placement. Seeds may differ between teacher and student. Illustrative examples; aggregate results use the full evaluation.","synchronization":"Common MasterClock overlap; camera and recorded depth fields nearest-neighbor resampled to 15 fps. No temporal interpolation. Force samples retain their recorded timestamps.","forceUnitsSource":"configs/hardware.nuc.yaml: tactile.force_unit_to_N = 1.0; driver exports [Fx,Fy,Fz,Tx,Ty,Tz]. No independent calibration accuracy claim.","episodes":[{"task":"waffles","model":"student","episode":"ep_student_waffles_1789500023_000","seed":101,"video":"assets/rollout-heatmap-waffles-student.mp4","poster":"assets/rollout-heatmap-waffles-student.webp","duration":40.466666667181926,"fps":15,"masterStart":9042.869420111296,"source":"https://huggingface.co/datasets/armteam/hapticwam-rig-episodes/resolve/fedce3c41d122b9f2cba6584e7aecce68a365a23/20260915_experiment/ep_student_waffles_1789500023_000/meta.json","revision":"fedce3c41d122b9f2cba6584e7aecce68a365a23","label":"label:stu_simft_001000","outcome":"Placed","force":{"left":[[0.0,-0.74105],[0.1275,-1.08],[0.26623,-1.96771],[0.37729,-0.79885],[0.50071,-1.08178],[0.62875,-1.04329],[0.75501,-1.17606],[0.8758,-1.37548],[1.00308,-1.37803],[1.13821,-1.75083],[1.26213,-1.89208],[1.37953,-2.3515],[1.5013,-1.71228],[1.62374,-1.57916],[1.7661,-0.78015],[1.87405,-0.74148],[2.0012,-0.89118],[2.12214,-1.66966],[2.25264,-2.02901],[2.37411,-1.40406],[2.49987,-0.96013],[2.62331,-0.68718],[2.76893,-0.16585],[2.88348,-1.01322],[3.00329,-2.03572],[3.13069,-1.94344],[3.26212,-0.53982],[3.3993,-1.43869],[3.53389,-0.30558],[3.62291,-0.44821],[3.76076,-0.85047],[3.8811,-1.30951],[4.00207,-2.19958],[4.12974,-1.52697],[4.25502,-1.25974],[4.37353,-1.7022],[4.50263,-1.96163],[4.62281,-0.87882],[4.75209,-2.48653],[4.87961,-0.94638],[5.01575,-0.80391],[5.12774,-1.54356],[5.25794,-0.96],[5.37839,-0.97366],[5.50545,-0.62069],[5.6302,-1.49198],[5.75165,-0.77393],[5.87618,-1.44937],[6.01912,-1.58858],[6.1291,-0.88816],[6.25313,-0.86842],[6.37661,-1.36324],[6.51101,-0.91292],[6.64352,-1.39785],[6.77771,-2.06701],[6.88446,-1.08037],[7.00762,-1.28049],[7.12716,-0.75207],[7.25284,-0.9688],[7.37749,-0.98066],[7.50218,-1.23484],[7.62896,-1.00037],[7.75782,-1.95623],[7.871,-0.91402],[8.00149,-1.31214],[8.12486,-1.52096],[8.25095,-0.67287],[8.37297,-1.97948],[8.50466,-1.56792],[8.62527,-1.545],[8.75121,-1.60109],[8.87301,-1.09244],[9.00302,-1.26147],[9.12657,-0.9701],[9.25514,-2.39157],[9.37313,-1.34838],[9.50376,-1.52397],[9.62482,-2.09412],[9.75316,-1.26101],[9.89631,-0.92893],[10.00692,-1.09676],[10.12971,-0.62317],[10.25969,-1.32976],[10.37172,-2.89337],[10.50294,-1.20718],[10.62801,-0.91949],[10.75129,-1.60569],[10.87287,-0.95343],[11.00237,-1.31996],[11.12415,-1.1945],[11.25087,-1.13349],[11.38244,-0.89746],[11.50113,-1.00985],[11.62538,-0.57785],[11.75233,-1.52297],[11.87368,-1.16615],[11.99997,-1.36426],[12.12689,-0.94383],[12.25063,-0.78778],[12.37791,-2.46666],[12.50177,-2.38075],[12.62508,-5.99299],[12.75088,-4.63164],[12.88956,-3.21783],[13.00729,-6.61261],[13.13478,-10.64998],[13.25256,-9.97779],[13.37929,-11.25595],[13.49963,-10.81405],[13.63048,-10.67683],[13.75835,-10.28993],[13.87893,-10.59667],[13.99732,-11.22278],[14.12265,-10.35814],[14.26148,-11.08393],[14.37288,-11.43168],[14.52047,-11.73128],[14.64222,-10.80476],[14.7503,-10.63593],[14.86907,-11.71428],[15.00578,-10.53468],[15.15231,-10.82739],[15.2567,-11.16038],[15.37864,-11.63308],[15.49811,-10.54794],[15.63928,-10.94257],[15.7488,-10.59891],[15.87163,-10.11391],[16.01898,-11.07354],[16.1306,-11.05255],[16.26978,-11.54463],[16.37088,-11.81796],[16.50334,-11.87637],[16.62991,-11.22705],[16.77531,-10.85796],[16.87451,-11.83965],[17.00288,-10.36515],[17.13992,-11.53143],[17.25367,-10.90642],[17.37993,-10.97473],[17.52504,-11.6131],[17.63598,-11.67789],[17.77489,-11.43714],[17.88541,-11.20598],[18.00504,-11.59723],[18.13895,-11.48353],[18.27887,-12.3826],[18.37048,-11.61282],[18.49586,-10.72573],[18.62619,-11.60723],[18.75317,-11.52957],[18.87799,-12.39861],[19.00273,-11.22467],[19.1458,-12.35398],[19.25868,-11.2963],[19.37634,-11.83104],[19.49833,-11.74182],[19.63071,-11.71543],[19.75211,-11.87399],[19.8755,-11.43648],[19.99846,-12.39341],[20.12951,-11.50033],[20.27214,-12.40836],[20.37112,-12.1592],[20.49678,-11.7653],[20.64007,-12.07118],[20.75771,-11.57071],[20.882,-11.71026],[21.00973,-11.63462],[21.12713,-11.15522],[21.25318,-11.72246],[21.38558,-10.60681],[21.50348,-11.18849],[21.6521,-11.57409],[21.78688,-10.75327],[21.87678,-11.11897],[22.00029,-11.50737],[22.12865,-12.66781],[22.25448,-11.18144],[22.3766,-10.73475],[22.50422,-11.89424],[22.63499,-11.40903],[22.75642,-11.55596],[22.8869,-11.3899],[23.00857,-11.48854],[23.13378,-12.13795],[23.26432,-11.82535],[23.37995,-11.06174],[23.50464,-10.72566],[23.6397,-10.77238],[23.78217,-11.0698],[23.88711,-11.23821],[24.0327,-12.05836],[24.14104,-11.03829],[24.28483,-11.72696],[24.39416,-11.42305],[24.51271,-11.006],[24.633,-11.75017],[24.76142,-10.87256],[24.87891,-10.48201],[25.008,-10.89248],[25.13307,-10.51589],[25.25726,-11.06707],[25.37669,-11.15627],[25.51975,-11.67108],[25.63749,-11.01607],[25.75401,-11.33228],[25.88098,-11.13351],[26.00155,-11.09878],[26.13201,-11.42851],[26.25496,-11.42538],[26.37865,-10.84286],[26.50434,-11.1203],[26.63048,-11.23472],[26.766,-11.59918],[26.87819,-11.21529],[27.01113,-10.74639],[27.13849,-11.35676],[27.26191,-10.79373],[27.37831,-11.64861],[27.50309,-11.55975],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