{
  "scope": "synthetic teaching examples; no policy training or robot validation",
  "checks_passed": 30,
  "checks": [
    "exclude_not_yet_received_frame",
    "age_uses_capture_not_receipt",
    "clock_scale_and_offset",
    "calibrated_frame_on_decision_boundary_is_usable",
    "stale_observation",
    "reset_invalidates_old_frames",
    "bad_clock_is_not_silently_repaired",
    "future_training_targets_are_allowed",
    "held_target_is_not_nearest_future_command",
    "no_padding_past_episode_end",
    "detect_reset_between_sample_grid_points",
    "hold_does_not_apply_to_delta_commands",
    "reject_duplicate_command_times",
    "400_regular_windows_preserve_boundary_indices",
    "mask_before_arithmetic_and_normalization",
    "all_missing_means_skip_action_loss",
    "valid_nan_is_rejected",
    "mask_does_not_hide_shape_errors",
    "equal_sampling_has_unequal_valid_supervision",
    "per_source_means_change_the_objective",
    "explicit_frequency_weight_changes_pooled_mean",
    "weight_normalization_changes_absolute_loss_scale",
    "distinct_families_and_scenes_pass",
    "synthetic_descendant_leakage",
    "scene_sharing_depends_on_evaluation_goal",
    "unseen_scene_protocol_rejects_shared_scene",
    "real_recorded_command_gate",
    "human_retarget_is_not_executed_command",
    "state_difference_is_not_executed_command",
    "human_operated_sim_is_still_sim"
  ],
  "observation": {
    "chosen": "available",
    "age_ms": 40.0
  },
  "action_target_times_seconds": [
    1.04,
    1.06,
    1.08
  ],
  "future_training_action_window": [
    [
      0.5,
      0.6
    ],
    [
      0.7,
      0.8
    ],
    [
      0.9,
      1.0
    ]
  ],
  "masked_mse": 2.5,
  "all_missing_action_loss": null,
  "source_mixing": {
    "sampled_windows": {
      "robot": 100,
      "human": 100
    },
    "valid_action_windows": {
      "robot": 100,
      "human": 25
    },
    "pooled_valid_mse": 0.2,
    "equal_source_mean_mse": 0.5,
    "human_frequency_weight_4_mse": 0.5,
    "weight_4_with_unweighted_denominator_mse": 0.8,
    "note": "Synthetic errors 0/1 isolate reduction weights; not gradient shares or a tuned recipe."
  }
}