{
  "schema": "softvt-object-soft-presentation-v7",
  "updated": "2026-08-17",
  "metric": "goal_success",
  "presentation": {
    "disposition": "retain_as_hierarchy_and_control_benchmark",
    "supported_claim": "The frozen decentralized RDP hierarchy improves goal success over the registered modified RDP and frozen DP comparators on the paired object-soft confirmation protocol.",
    "unsupported_claim": "The method gap is not evidence that tactile sensing caused the improvement; runtime tactile-off tied the matched normal-touch arm.",
    "not_claimed": [
      "deformation-safe success",
      "tactile-ratio robustness",
      "multi-training-seed robustness",
      "cross-suite generality",
      "full multi-agent decentralization"
    ]
  },
  "space_merge": {
    "canonical_space": "aaa1234zzz/softvt-object-soft-benchmark",
    "merged_on": "2026-08-17",
    "policy": "Preserve result evidence and historical repository context under one canonical Space without pooling unmatched benchmark protocols.",
    "sources": [
      {
        "space": "aaa1234zzz/softvt-object-soft-benchmark",
        "revision_before_merge": "d5a14ad0e3df0cd235c60c465c27ea02935a0f62",
        "canonical_path": "/"
      },
      {
        "space": "aaa1234zzz/roboprog-tacex-asymmetry-dashboard",
        "last_full_dashboard_revision": "4cd200f06b3f356b016a6dbb7890fb80020e51f9",
        "redirect_revision_before_merge": "cba2b47c3655c8f7e1b0dfd167a1702814f7506a",
        "canonical_path": "archive/tacex/",
        "presentation_path": "#tacex"
      },
      {
        "space": "aaa1234zzz/roboprog-benchmark-atlas",
        "revision_before_merge": "481ed35562d6bc542356d029ac2272f5bd4b6dc6",
        "snapshot_date": "2026-08-12",
        "repository_revision": "21a5c98",
        "canonical_path": "archive/benchmark-atlas/",
        "archive_sha256": {
          "README.md": "447b365b8d0d17c54972fe345a8b950a3b710afea87d94e971145954f0e9ed01",
          "index.html": "bcfd44f45fb39f7d23ae325ef081ee0babab4c6b300c0dc6c88c9a3debeec562"
        }
      }
    ]
  },
  "method_ordering_confirmation": {
    "study": "softvt-learned-observation-confirmation-v1",
    "protocol": {
      "tasks": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9],
      "resets": [5, 6, 7, 8, 9],
      "paired_cells_per_arm": 50,
      "checkpoint_seed": 0,
      "simulator_seed": 2000,
      "perception_regime": "honest runtime dual RGB, marker flow, language, and proprioception",
      "reset_state_hashes_identical": true
    },
    "rows": [
      {
        "arm": "ours-r100",
        "label": "Ours, decentralized RDP hierarchy",
        "success": 29,
        "total": 50,
        "rate": 0.58,
        "wilson95": [0.4423344176857823, 0.7062499664528802]
      },
      {
        "arm": "rdp-r100",
        "label": "Modified RDP",
        "success": 12,
        "total": 50,
        "rate": 0.24,
        "wilson95": [0.1429739139699173, 0.3741268375794292]
      },
      {
        "arm": "dp-r100",
        "label": "Frozen DP",
        "success": 0,
        "total": 50,
        "rate": 0.0,
        "wilson95": [0.0, 0.07134759913335872]
      }
    ],
    "registered_gate": {
      "name": "method_ordering",
      "passed": true,
      "familywise_one_sided_95_lower": 0.04
    },
    "paired_tests": [
      {
        "contrast": "ours-r100-vs-rdp-r100",
        "left_only": 22,
        "right_only": 5,
        "holm_exact_mcnemar_p_two_sided": 0.0015137195587158203,
        "one_sided_95_lower": 0.10000000000000003
      },
      {
        "contrast": "rdp-r100-vs-dp-r100",
        "left_only": 12,
        "right_only": 0,
        "holm_exact_mcnemar_p_two_sided": 0.0009765625,
        "one_sided_95_lower": 0.06000000000000001
      }
    ],
    "integrity": {
      "passed": true,
      "reset_state_count": 50,
      "infrastructure_retries": 1,
      "retry_policy": "exact matching cell with identical reset-state hash"
    },
    "safety": {
      "certified": false,
      "fail_closed": true,
      "unknown_cells": 35,
      "total_cells": 300
    },
    "provenance": {
      "evaluation_revision": "7974b1cc567be233706fc555e54224edba0f03eb",
      "analysis_revision": "3799137ba2e67f7fbdadc3c262558a5f84c3647e",
      "analysis_sha256": "b2ba343e661e84cd052463cdfc2d85f02c7fa861c247d62e9c80c7f134112e4f",
      "manifest_sha256": "ec3c6720ff3a5c569d86a6400bcbc11167637796755df10ce8c68d94268f28d2"
    }
  },
  "tactile_necessity_follow_up": {
    "study": "softvt-tactile-necessity-v1",
    "evidence_tier": "paired causal follow-up on reused confirmation cells",
    "protocol": {
      "tasks": [0, 1, 2, 3, 4, 5, 6, 7, 8, 9],
      "resets": [5, 6, 7, 8, 9],
      "paired_cells_per_arm": 50,
      "simulator_seed": 2000,
      "reset_state_hashes_identical": true,
      "valid_cells": 200
    },
    "rows": [
      {
        "arm": "ours-r100-normal",
        "label": "100%-trained, normal touch",
        "success": 29,
        "total": 50,
        "rate": 0.58,
        "wilson95": [0.4423344176857823, 0.7062499664528802],
        "learned_contact_observed": 27,
        "controller_complete": 35,
        "safety_unknown": 8
      },
      {
        "arm": "ours-r100-runtime-off",
        "label": "100%-trained, runtime touch off",
        "success": 29,
        "total": 50,
        "rate": 0.58,
        "wilson95": [0.4423344176857823, 0.7062499664528802],
        "learned_contact_observed": 0,
        "controller_complete": 37,
        "safety_unknown": 9
      },
      {
        "arm": "ours-r12.5-normal",
        "label": "12.5%-trained, normal touch",
        "success": 30,
        "total": 50,
        "rate": 0.6,
        "wilson95": [0.4618143774758936, 0.7239161026974346],
        "learned_contact_observed": 26,
        "controller_complete": 38,
        "safety_unknown": 8
      },
      {
        "arm": "ours-r0-untrained",
        "label": "0%-data, untrained observer",
        "success": 30,
        "total": 50,
        "rate": 0.6,
        "wilson95": [0.4618143774758936, 0.7239161026974346],
        "learned_contact_observed": 0,
        "controller_complete": 36,
        "safety_unknown": 9
      }
    ],
    "contrasts": [
      {
        "contrast": "100-trained-vs-runtime-off",
        "difference": 0.0,
        "left_only": 5,
        "right_only": 5,
        "one_sided_95_lower": -0.1,
        "holm_exact_mcnemar_p_one_sided": 1.0
      },
      {
        "contrast": "100-trained-vs-0-untrained",
        "difference": -0.02,
        "left_only": 5,
        "right_only": 6,
        "one_sided_95_lower": -0.12,
        "holm_exact_mcnemar_p_one_sided": 1.0
      },
      {
        "contrast": "12.5-trained-vs-0-untrained",
        "difference": 0.0,
        "left_only": 6,
        "right_only": 6,
        "one_sided_95_lower": -0.08,
        "holm_exact_mcnemar_p_one_sided": 1.0
      }
    ],
    "registered_gate": {
      "name": "tactile_necessity",
      "passed": false,
      "familywise_one_sided_95_lower": -0.14,
      "required": "strictly greater than zero"
    },
    "mechanism": {
      "runtime_off_contract": "sensor_gate=[false,false] and ours_tactile_messages_enabled=false at every inference",
      "fallback": "fixed 24-step maximum close-hold can advance transport without tactile authorization"
    },
    "safety": {
      "certified": false,
      "unknown_cells": 34,
      "total_cells": 200
    },
    "provenance": {
      "evaluation_revision": "1ed8789968d994e5bdf3e4ab2ceef38f19d3e3dd",
      "analysis_revision": "0133165a9474fd3d790cb1ac9710251a1c0c57c1",
      "analysis_sha256": "a718ca507a57c115b97e6ff73c14216b7af8b24be90281fbe1b5494411ce9cd5",
      "registered_manifest": "configs/softvt_tactile_necessity_v1.json",
      "zero_data_checkpoint_sha256": "dd384587cb4d3d85b0df2f625c531c7527ccb28a76549a7ea94b7a30bf70fc81"
    }
  },
  "method": {
    "name": "decentralized learned observation RDP hierarchy",
    "observation_topology": "role-specific tactile side paths plus fused inherited RDP trunk",
    "left_observer": "private two-frame marker-flow encoder, FSQ bottleneck, contact and persistence heads",
    "right_observer": "independent private two-frame marker-flow encoder, FSQ bottleneck, contact and persistence heads",
    "state_path": "proprioceptive preemption gate and task-indexed pose primitive",
    "action_authority": "single centralized causal phase controller",
    "decentralization_boundary": "partial observation decentralization, not multi-agent action decentralization"
  },
  "clean_rollout_visualization": {
    "evidence_tier": "development visualization only; not a confirmation cell",
    "method": "ours decentralized-rdp-phase-v1",
    "task": 4,
    "reset": 0,
    "asset": "soft_pastry005",
    "result": "goal success",
    "valid_inferences": 127,
    "protocol": {
      "checkpoint_seed": 0,
      "simulator_seed": 1000,
      "rdp_plan_samples": 4,
      "control_horizon": 560,
      "rendering_mode": "performance",
      "anti_aliasing": 1,
      "postprocessing": null,
      "temporal_filter": null,
      "web_reencode": false
    },
    "render_quality": {
      "metric": "fraction of grayscale pixels with >20 absolute residual from a 3x3 median",
      "sampled_frames": 12,
      "median_speckle_ratio": 0.000873565673828125,
      "max_speckle_ratio": 0.001132965087890625,
      "median_threshold": 0.03,
      "passed": true
    },
    "media": {
      "ours_task4_clean_agentview.mp4": {
        "bytes": 174713,
        "sha256": "634ae9681870bdc401cb1a31c5a1aca20314511eaa5358381cd00d0c70f99d05",
        "width": 512,
        "height": 512,
        "fps": 10,
        "frames": 126,
        "duration_seconds": 12.6
      },
      "ours_task4_clean_eye.mp4": {
        "bytes": 304188,
        "sha256": "e68bd83ea13734f260d2e2078e0d0d1508bc3c57062ccda15e4536c2202cd9f3",
        "width": 512,
        "height": 512,
        "fps": 10,
        "frames": 126,
        "duration_seconds": 12.6
      },
      "ours_task4_clean_tactile_left.mp4": {
        "bytes": 157570,
        "sha256": "0ce6d51b1204156b46c1ac1b811bb33bc053be05e0c828e016cd2b2405724b3d",
        "width": 320,
        "height": 240,
        "fps": 10,
        "duration_seconds": 12.6
      },
      "ours_task4_clean_tactile_right.mp4": {
        "bytes": 238193,
        "sha256": "4114ab75828816bff398debd2951a9abf8ff1ac08f041ae5bf47479edd2668c2",
        "width": 320,
        "height": 240,
        "fps": 10,
        "duration_seconds": 12.6
      },
      "ours_task4_clean_agentview_poster.png": {
        "bytes": 200984,
        "sha256": "755fa663c4d7a57e38e8de62882c04e8fb1a966cd8007d32184535695d1a8224"
      },
      "ours_task4_clean_eye_poster.png": {
        "bytes": 133729,
        "sha256": "700430eec3b675031be2b80bbe418a5dc418c029efba3886c6f386103a06c2e0"
      },
      "ours_task4_clean_tactile_left_poster.png": {
        "bytes": 79754,
        "sha256": "da1b65bd99c2183ae5b6e83857f96e65cc33ee3ee33cfdbeff574b207d1585c2"
      },
      "ours_task4_clean_tactile_right_poster.png": {
        "bytes": 81022,
        "sha256": "f756e29f749a1eb61f84a9ace53527104f3474bd1ce22f027c9d81f084bb9df2"
      }
    },
    "provenance": {
      "render_revision": "430e923bb1420eda38633168fb96465eb2a7bad4",
      "benchmark_revision": "58056111f01e05bf1a4ae1dee75db4e3d9e7c5be",
      "checkpoint_sha256": "622197f58b7ba942a8c5b64b3117db42d4d893ea41ffd64c4d98e96cb35d4108",
      "source_checkpoint_sha256": "3a0ab3ea04a229f32dee09b8ce0c8d772311a54857c9871a1db5745b5c4045b2",
      "comparison_sha256": "32a4e0747a5f008bd76f2ea23d913247376d0878a9a0251172347fa1f563b53e",
      "validation_sha256": "81e6e58d6e6193568c7f345be0966b8f62cf3dcab5d54dd3f6ccaf1c9d81c7dc"
    }
  },
  "development_visualization": {
    "evidence_tier": "adaptive development visualization only",
    "tasks": [0, 1, 2, 3, 4],
    "reset_offset": 0,
    "summary": {
      "ours": 4,
      "rdp": 2,
      "dp": 0
    },
    "camera_processing": {
      "source": "evaluated paired RGB; direct simulator replay for method video",
      "temporal_filter": null,
      "spatial_resampling": "OpenCV INTER_AREA downscale / INTER_CUBIC upscale",
      "intermediate_codec": "FFV1 lossless",
      "delivery_codec": "H.264 CRF 18 tune grain",
      "synthetic_frames": false
    },
    "tactile_processing": {
      "source": "simulator-replayed bilateral GS-Mini marker RGB streams",
      "temporal_filter": null,
      "synthetic_frames": false
    },
    "media": {
      "benchmark_overview_clean.png": {
        "bytes": 556069,
        "sha256": "354f47d3395f82f64dc3dea9648e385c431b5a858eda2781fa0b43e15c0f5977",
        "storyboard_source": "clean task-4 performance-renderer replay; result table retained from the original development artifact"
      },
      "benchmark_overview.png": {
        "bytes": 778406,
        "sha256": "f6e6223ed5593367c8519068829826173dccf9db80477f9f78af8fc68b305eba",
        "display_status": "preserved original noisy overview; available as a download"
      },
      "method_walkthrough.mp4": {
        "bytes": 4868496,
        "sha256": "8bffd47e85b3ba206cb10432db9995ccb0138cd872998ff61d104433d8b8c2d7",
        "display_status": "preserved existing optimized annotated dashboard"
      },
      "paired_task_grid.mp4": {
        "bytes": 17439348,
        "sha256": "83ba38a64d9e755cf90434c9519139ca99f7f5a9dc8988ec72da4f6e5ab04ee6",
        "display_status": "preserved existing optimized annotated dashboard"
      }
    },
    "source_summary_sha256": {
      "ours": ["7fec7595e2d4f61b7e1e6599cc6304eb1df7c0a682fc322fffbcb560e8315788"],
      "rdp": [
        "f1260fed8f21649e9e260767c35cbeccfa8004eb6914a23a4aac5008186939aa",
        "2f449fd0e488d11402b96dacf832ec9e80e6527bc7df15e67284098c59210371"
      ],
      "dp": ["9eb0667c5409fb0685c8a647a9f5b878efa7d1b549622628afcdfdfca6423376"]
    },
    "source_events_sha256": "9f6b81529e91e3a37f3dbed6bd707654b536a10e62ab76b2dc8721b52bb07fe6",
    "method_camera_role": "recorded-action simulator visualization replay",
    "clean_overview_storyboard": {
      "render_revision": "430e923bb1420eda38633168fb96465eb2a7bad4",
      "task": 4,
      "reset": 0,
      "phases": ["visual", "pregrasp", "descend", "close", "transport", "complete"],
      "control_steps": [15, 32, 44, 56, 92, 126],
      "source_events_sha256": "f7bba877eb3a68acde38d74eb735589bece4e2c7aa2808372c6b2afe9259a9dc"
    }
  },
  "cross_benchmark_visualization": {
    "benchmark": "TacEx-Factory-Wipe-Direct-v0",
    "evidence_tier": "historical matched development visualization from an earlier method revision",
    "comparison_boundary": "not pooled or directly ranked with SoftVT confirmation; not current TacEx confirmation evidence",
    "perception": {
      "policy_input": "onboard proprioception plus bilateral force history",
      "camera_role": "simulator visualization only",
      "tactile_rgb_available": false,
      "tactile_rgb_note": "the archived policy observation is force-history vectors, not tactile RGB frames"
    },
    "protocol": {
      "seed": 2000,
      "disturbance_trigger": "after_contact_progress",
      "disturbance_steps": 4,
      "duration_seconds": 11.958333,
      "fps": 24
    },
    "methods": {
      "dp": "historical DP comparator",
      "rdp": "historical RDP comparator",
      "ours": "historical slowfast_late_fusion checkpoint; not the current SoftVT method"
    },
    "media": {
      "tacex_wipe_dp.mp4": {
        "bytes": 305195,
        "sha256": "26eb7cf23c3f46eeef0da2279ab08e818beb4f2d689a85fb537d5bbfbe5b53f1",
        "width": 224,
        "height": 112,
        "frames": 287
      },
      "tacex_wipe_rdp.mp4": {
        "bytes": 317144,
        "sha256": "d4e6503c5a9cf30da1653a84da6425760a22ac94d1578c80e0bd85d23da5f973",
        "width": 224,
        "height": 112,
        "frames": 287
      },
      "tacex_wipe_ours.mp4": {
        "bytes": 299874,
        "sha256": "e7b65c24390328ed3efeab4df0626d8978117d013b79b255f7b63c1824b21ef3",
        "width": 224,
        "height": 112,
        "frames": 287
      },
      "tacex_wipe_dp_rdp_ours.mp4": {
        "bytes": 750787,
        "sha256": "4175150b7a2e43241e95b7ba3f7bc7182267edf8944d123782fba882fb90573e",
        "display_status": "preserved original combined comparison; available as a download"
      },
      "tacex_wipe_dp_poster.png": {
        "bytes": 23233,
        "sha256": "d185bf367d73435bd999209c6356771dff78751e694ed83e149c6a8e06abb43c"
      },
      "tacex_wipe_rdp_poster.png": {
        "bytes": 24137,
        "sha256": "052de3ef155e5f5b7f8e44df2df816810b0dbacf65eb2aa251ae9e64b516bc75"
      },
      "tacex_wipe_ours_poster.png": {
        "bytes": 24297,
        "sha256": "700a47d5ab7ab2050620c3c706786d4f0f83bd33d958b6ce0da782a28ad883b9"
      }
    },
    "source_revision": "a44182e9",
    "reset_state_sha256": "efaf91e1eba2a2ed8c50f4b4fea5e3b7b972c4b8965a86245a02d469f3b27320"
  },
  "benchmark": {
    "name": "SoftVTBench object-soft",
    "revision": "58056111f01e05bf1a4ae1dee75db4e3d9e7c5be",
    "retained_use": "hierarchy and control benchmark",
    "future_tactile_needed_revision": "separate protocol with a post-contact latent property, no no-touch timeout bypass, and contact-dependent scoring"
  }
}
