{
  "schema": "parallelvla.factorized_router_vs_skillvla_r4.v1",
  "conclusion": "The successful r4 policy is teacher-driven; the per-arm student was not the deployed action source.",
  "skillvla_r4": {
    "initialization": "adapted full-vision all-actions step-2000 joint anchor",
    "trainable": "router/semantic/student auxiliaries only",
    "deployed_action_source": "joint teacher because student_mix=0.0",
    "inactive_action_weight": 1,
    "cadence": {
      "async": 50,
      "sync": 10,
      "threshold": 0.53,
      "confirmations": 2,
      "boundary": 20
    },
    "data": {
      "episodes": 50,
      "frames": 10414,
      "distribution": "canonical dynamic-current-frame"
    },
    "transplant": {
      "recipient_step": 500,
      "donor_step": 500,
      "parameters": [
        "action_out_proj/kernel",
        "action_out_proj/bias"
      ],
      "donor_weight": 0.6875
    },
    "fixed100": {
      "suite": "parallelvla_eval_pcd",
      "success": 57,
      "collision": 8,
      "matched_control_success": 55
    }
  },
  "factorized_router": {
    "initialization": "raw PI0.5 base",
    "trainable": "full 3.35B backbone",
    "inactive_arm_loss": "excluded static-arm action dimensions",
    "cadence": "server returned 50 actions for every request; failed rollouts were 14x50=700",
    "router": "independent left/right stage prediction with observed reach/hold oscillation",
    "data": {
      "episodes": 100,
      "rows": 21645,
      "distribution": "50 canonical plus 50 random-delay"
    }
  },
  "controlled_reproduction": {
    "principle": "restore the known-successful training and deployment chain before changing one factor",
    "max_updates": 2000,
    "first_native_gate": 500,
    "continue_condition": ">=1/5 real native fixed-seed successes"
  }
}