WRM_wrap_monitor_backup
Strict backup Beaver monitor for the frozen WRM_wrap 50k Diffusion Policy. It is trained as a small MLP and exhaustively checked over all 512 binary patterns of the nine sensors.
Only Key4 sensors 01, 02, 10, 11 enter the MLP; the other five are masked
before the network and are therefore structurally unable to affect its output.
It exactly distills:
- near: 0 mm
- closing scale: 50 mm
- lift minimum wrap: 0.25 (at least one Key4 exact-zero contact)
- stop-close wrap: 0.5 (at least two Key4 exact-zero contacts)
- contact stop: 0 mm
Outputs are [lift_state, contact_state] with the fixed decision boundary
logit >= 0. See metrics.json for the exhaustive truth-table result and
minimum logit margin.
monitor.pt contains the trained monitor only. checkpoints/last.pt is the
deployable combined policy containing frozen EMA WRM_wrap weights plus this
monitor.