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    "handling": "reference_privileged is a REFERENCE-only backward-encoder input. Actor proprioception and the author double history insertion are retained; no measured translation.",
    "actual_position_integration": "No explicit integration or odometry in the inspected deployed adapter source; blocked paths are listed separately.",
    "special_handling": "FK of allowed state at fixed synthetic origin (0,0,0); never actual measured origin.",
    "repository": "https://github.com/MotionChallenge-Project/MotionChallenge-bfm-zero",
    "dependency_test": {
      "path": "validation/observation-access.json",
      "sha256": "f77d02ad54e0ce9b2d3c137ac3cb637dd16d4b3b6645ca7177a778a83f7163c3",
      "code": "validate_observations.py",
      "cases": 160,
      "resets": 4
    }
  },
  "observation_dependency_report": {
    "model": "bfm-zero",
    "status": "passed",
    "cases": 160,
    "resets": 4,
    "tolerance_abs": 2e-05,
    "checkpoint_sha256": "cdc9d6454d72b00fabfd1c2ab26ad463a5638cde4e3ac82946975d1e459d9939",
    "network_calls": 160,
    "max_abs_error": {
      "observation": 0.0,
      "network_output": 0.0,
      "motor_command": 0.0
    },
    "checks": [
      "160 matched state sequences / 4 resets",
      "large actual translation perturbations",
      "reference windows preserved including endpoints",
      "all captured ONNX inputs and outputs",
      "all PD command fields",
      "forbidden-field counterfactual before transport"
    ],
    "limits": "Finite numerical regression plus source audit; not a proof against malicious code or implicit neural odometry."
  },
  "reproduction": {
    "adapter_commit": "b428a4831ab9377774b80cda8a8d39d7df985935",
    "core_commit": "11873584f838ba29fd2a2327ca15016192c3f3e1",
    "adapter_repository": "https://github.com/MotionChallenge-Project/MotionChallenge-bfm-zero",
    "adapter_code_url": "https://github.com/MotionChallenge-Project/MotionChallenge-bfm-zero/tree/b428a4831ab9377774b80cda8a8d39d7df985935",
    "core_code_url": "https://github.com/MotionChallenge-Project/MotionChallenge-Core/tree/11873584f838ba29fd2a2327ca15016192c3f3e1",
    "checkpoint_sha256": "cdc9d6454d72b00fabfd1c2ab26ad463a5638cde4e3ac82946975d1e459d9939",
    "commands": [
      "git clone --recurse-submodules https://github.com/MotionChallenge-Project/MotionChallenge-bfm-zero.git",
      "cd MotionChallenge-bfm-zero",
      "uv sync",
      "uv run evaluate.py"
    ],
    "scoring_core_commit": "b08ef12c6898ee866a81bdce055099ee2d0cee4b",
    "scoring_code_url": "https://github.com/MotionChallenge-Project/MotionChallenge-Core/tree/b08ef12c6898ee866a81bdce055099ee2d0cee4b",
    "rescore_command": "uv run motionchallenge-rescore --run /path/to/original/run --original-protocol /path/to/original-protocol.json --data /path/to/dataset --output /path/to/new-score --jobs 8"
  }
}