Datasets:

fsafaei
/

chamber-bench-partner-sets

+---
+license: apache-2.0
+pretty_name: CHAMBER-Bench v1.0 partner sets
+tags:
+  - robotics
+  - reinforcement-learning
+  - multi-agent
+  - benchmark
+---
+# chamber-bench-partner-sets
+The versioned partner zoo of **CHAMBER-Bench v1.0** — the benchmark
+for physically-coupled ad-hoc cooperation released with the
+[fsafaei/concerto](https://github.com/fsafaei/concerto) repository. A
+*partner* is the frozen, black-box teammate a benchmarked method is
+evaluated against: the method controls one robot arm, the partner
+controls the other, and the method never sees the partner's policy or
+parameters.
+## What is in this dataset
+- `sets/*.json` — one machine-readable roster per partner-set version
+  (`cocarry_partners@v1`, `cocarry_partners@v2`,
+  `handover_place_partners@v1`, `stage1_pickplace_as_partners@v1`):
+  set metadata, each member's construction box, split label, and
+  SHA-256 identity hash. **Public** members carry their exact
+  committed parameter values; **private** members carry `params:
+  null` — their parameters are deliberately withheld.
+- `cards/` — rendered per-member and per-set cards (construction,
+  fingerprints, competence floors) as published in the project
+  documentation.
+- `fingerprints/*.json` — per-set behavioural fingerprint summaries.
+- `checkpoints/` — the public learned members' PyTorch checkpoints
+  (content-addressed, with JSON sidecars).
+- `manifest.json`, `SHA256SUMS.txt` — file list and digests; check a
+  download with `sha256sum -c SHA256SUMS.txt`.
+## Why private members are hashes only
+The benchmark keeps 30% of each partner set private so a submitted
+method can be spot-checked against partners it cannot have overfitted.
+Publishing the identity hashes (and the fingerprints measured from
+probe episodes, released in `chamber-bench-reference-trajectories`)
+makes that spot-check verifiable without revealing the parameters.
+This is a benchmark-integrity measure; there is no personal or
+confidential third-party data anywhere in this artifact.
+## Provenance
+All content is generated from the committed repository state by
+`scripts/release/prepare_hosting.py` (deterministic; the producing
+git commit is recorded in `manifest.json`). Rosters come from the
+in-repo partner-set registry; fingerprints come from preregistered
+probe runs archived as verifiable bundles. Collection is entirely
+simulation and tooling output — no human subjects, no scraped data.
+## Intended use
+Instantiate the exact public partners behind a leaderboard row
+(`uv run chamber-eval run --partner-set <set>@vN …`), evaluate new
+methods against the public split, or audit partner identity. The
+submission protocol is `docs/how-to/submit-leaderboard.md` in the
+repository.
+## Limitations
+Scripted impedance controllers, scripted presenters, and frozen
+jointly-trained policies only — no human models and no vision-based
+partners in v1.0. Partner sets are versioned and never mutated; this
+upload corresponds to the versions named in the roster files.
+## Licence and citation
+Apache-2.0, same as the repository. Cite via the repository's
+`CITATION.cff` (DOI `10.5281/zenodo.20128469`). Maintainer contact
+and deprecation policy: `MAINTENANCE.md` in the repository.

SHA256SUMS.txt ADDED Viewed

	@@ -0,0 +1,50 @@

+03ba9406316cff125a7fd39aeb534907913cee229f09a0398390e6b3dc367c6a  fingerprints/cocarry_partners-v1.json
+0608789a4323627152bbe2d2959e7e3139b0cff21e9633f9644345e09b891107  sets/stage1_pickplace_as_partners-v1.json
+0fee2fd08bf2e07c59073c9bc68f44bf09352d87d2151a23879cf2f211788f3d  sets/cocarry_partners-v1.json
+11c35fc333cdccc2c4f499c46c649120978cbc1aaa3513afe685d0c8269b5ca4  cards/handover_place_partners-v1/presenter_mismatch_30.md
+1215b0661cbf0d0b2d5ff61a400a4bc78a7775f3705b8fe6348155a4c1e2ff90  cards/cocarry_partners-v2/imp_stiff_low.md
+1b36ac0b6982f025b07146bd27c826e58c947eb371345070669c746c4474c19f  fingerprints/stage1_pickplace_as_partners-v1.json
+1b659212eaa83ca9facf322b9ea6ca91f60916230d5c2ea7d880686ae4bad7bd  cards/cocarry_partners-v1/imp_fast.md
+1ce942c25d172872c6fa6387225b7e984b4980a85f7774d6acdab31359fa1ab9  cards/stage1_pickplace_as_partners-v1/heuristic_quadrant_pos.md
+1f8ac5f59a2650b004869d2c3ac4f69e6dfb47f5ecda0db0f12d935597bfa1b2  cards/handover_place_partners-v1/presenter_matched.md
+23c3c3831a25a1290f9a608621ce88ea8a148a9bf2fe4d1fc98aeb2447285fa9  cards/index.md
+3107b1bde5201d0350221f527839cda7ee6ac5698c20df6f80eb80453fb5ae18  checkpoints/e9040cbc3c3b2456_step150000.pt
+373aa55df296dd7f5078440dbf2be89ae2dbcffe1883580551f7c6d7387161c9  cards/stage1_pickplace_as_partners-v1/index.md
+3d71457d5bc64bcd0c7e871318b0b82bd3824f08eb56c7973c93948415c11519  cards/stage1_pickplace_as_partners-v1/heuristic_quadrant_neg.md
+407a0f1a05b8341b55c3115fdc42781e6d711a85985393268f5a11bf9ddaf79c  cards/cocarry_partners-v1/imp_slow.md
+43cdc3f0616882700d5b225a998677611f937a946a126175dc12b1174bff0c46  cards/cocarry_partners-v2/imp_lag_bounded.md
+47510cab7f453f4cba2004fce056d108efe8eaf800182dbdcd6008d49b20928d  cards/cocarry_partners-v1/imp_lag_bounded.md
+4e95a2fc2e062ca2077912612d91a5e26f7888db382422c1d407616ae3a8a44b  cards/cocarry_partners-v2/imp_blend_c.md
+5d5abb0b8c7edb4ab95a21632a71545b8f34c69eb41ebe0ca1631270bf08656a  manifest.json
+6159578bb2dcf3a97866fc832fb0b32dc3b64f574711bc7b4aff8d020f7f3fe9  cards/cocarry_partners-v2/imp_blend_a.md
+642c568215dfc05b5c5f1b4b6a0e8b0a5325f5694de95cbb691e3a415ac0a112  cards/handover_place_partners-v1/presenter_mismatch_15.md
+66a3af9776fdbb831aaa5d70c2f864d8c322054d2b8276d62af786c35091d990  sets/cocarry_partners-v2.json
+67d3c0795e837ecafe99a0a9a900c409f397cdcda36080f297af02793c9cfe44  cards/cocarry_partners-v1/index.md
+6a0eed7767bf484ee300d60958bf9a44a3cbc6d13462f5884642238055b8f8aa  cards/cocarry_partners-v2/imp_nominal.md
+6a86774b598ed7a2adca3f16799ac4b6fe23a5db7e5eb4f6876c11b052597e56  croissant.jsonld
+78b0fdd8a688b43c83758063f24ddda3a545fb79ac00fb1d68a3ee2c7a551d8d  cards/cocarry_partners-v1/imp_blend_a.md
+7c3e82823ea1ba24e956cf1265b52152af9720d88526f51611f29d639731beff  README.md
+7cc5dc66983f46934e224458cdcf9505f048337415c6a01487cb9ceb72b1daae  cards/handover_place_partners-v1/presenter_mismatch_45.md
+7e94927714b0e6a6954162028f7132fb3a3b8a698b3918a73228f153c2a07606  cards/cocarry_partners-v1/imp_nominal.md
+876236df18fd8df54eb05e4a8c31acf52022b11b9baa0db4d010d3f09e8b538f  cards/cocarry_partners-v1/imp_blend_c.md
+8af63b2fe34f12e0e54d8a8f5e08884c4c8880eab2e77bb010058bc910da29d5  cards/cocarry_partners-v1/imp_damp_low.md
+94507519f55e3f4ca9ebe55eb5c63377aff67e8e878f5cb51cbab707623c8862  cards/cocarry_partners-v2/joint_s4.md
+9dc1a841855dc734383369915b3195d731fd4ddc22fc465baf3517200bf488cc  cards/handover_place_partners-v1/presenter_offgrid_a.md
+9e7b23e36c894fedb65e724a3d70595c11813647965023c6ac2508bb7d63fe84  cards/cocarry_partners-v1/imp_stiff_low.md
+af47e2726561472e8d5a98c309273dcec40912bfc9b5bb3bc7ddc0c35bfd5baa  checkpoints/e9040cbc3c3b2456_step150000.pt.json
+b544f4208b22d2e0ec0d652a271fc6a82070ee37f15893537d9b26561c1c56a3  cards/cocarry_partners-v2/imp_damp_high.md
+c2b8ab60172f66aa40d6e1fa11e79b5d4c03c164152241f209af7ba06032883a  cards/cocarry_partners-v2/index.md
+cdd743d7ca8ef3f683a7ae8efc5cd6655caf4bc4bb424bb558cdf332b3d71654  fingerprints/handover_place_partners-v1.json
+d21655ceb850a39f76935a5d9bb02d522247c521a89814c05be239096b636793  cards/cocarry_partners-v1/imp_damp_high.md
+d2c0c6953d4614209c97f40b5fe96a04c63b01bbb5a424a15aa98d1ba4e7e0c5  cards/stage1_pickplace_as_partners-v1/heuristic_center.md
+d337db83de8e528dd9b120d43a9d41f7d4803ec7d92c0545d53700400a3accec  cards/cocarry_partners-v2/imp_blend_b.md
+d52deca89d34e1ca1affaa1323415ae3a81426dff16803c425440ab235180e58  cards/cocarry_partners-v2/imp_stiff_high.md
+dd0177a65d73f04159506bbb623b4f9d3dc05e373a920bf9d336e40aab096f0e  cards/cocarry_partners-v2/imp_slow.md
+e2e7924564769a9a4d5a5042eae112e318d1f913751e7677c04ea86627931edb  sets/handover_place_partners-v1.json
+e7b0cc1b7a56e35e592e4d91c53edc54eadc2a61dc06f7af2cb8ecd90797131e  cards/cocarry_partners-v2/imp_fast.md
+e7bb64c6a35d68126a2f2357b0a820e38705a846147364116a53a37791dca4e1  cards/cocarry_partners-v1/imp_blend_b.md
+ea93cb1795fab33b42b53f14c501ba71afecb364261820b3f87ac03c23987ca7  fingerprints/cocarry_partners-v2.json
+f1cb078674539b4897e213cede654a697d833250a0bc23d9567cbbed75bc4219  cards/handover_place_partners-v1/index.md
+f33412e0b744901a53491cbb011f01a1f08e80d0afc6b48537931908559727cd  cards/cocarry_partners-v2/imp_damp_low.md
+f7c76ce886f22ddca7c79256c9381424614cb8e7f2595ce4926e7d56395cd287  cards/handover_place_partners-v1/presenter_offgrid_b.md
+fb808e4e3447b9b331dc224929b99ad76403f90e110285427d546e2da15623a6  cards/cocarry_partners-v1/imp_stiff_high.md

cards/cocarry_partners-v1/imp_blend_a.md ADDED Viewed

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+# `imp_blend_a` — cocarry_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v1` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** private · **Role.** partner_arm
+**Identity.** `partner_id` `b6975bc340b25133` · parameter digest `66ec45f3bc06acf1ca79f5f3804aff757920c3db8c02a0cdd59675cad241c1bf` · `weights_uri` `member://cocarry_impedance/66ec45f3bc06acf1ca79f5f3804aff757920c3db8c02a0cdd59675cad241c1bf`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Private member: the exact values are **withheld** (ADR-009 as amended — published hashes, withheld parameters). They were drawn from the committed box under the maintainer-held seed; the digest below verifies any authorised local re-derivation.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.02, 0.08] | *withheld* |
+| `ki` | [0.4, 0.8] | *withheld* |
+| `kp` | [1.3, 3.8] | *withheld* |
+| `lag_steps` | [0, 3] (int) | *withheld* |
+| `step_max` | [0.02, 0.04] | *withheld* |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v1/imp_blend_a/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3683 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4705 |
+| `n_episodes` | 20 |
+| `stress_max` | 114.7 |
+| `stress_mean` | 94.41 |
+| `stress_p50` | 101.6 |
+| `stress_p90` | 111.8 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v1/imp_blend_b.md ADDED Viewed

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+# `imp_blend_b` — cocarry_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v1` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `6883ea1ebef2f0d3` · parameter digest `b1a0fa0aa3ee2d96af0073a70ed040fa6d90efffaeb3a956396cd5704912ddb2` · `weights_uri` `member://cocarry_impedance/b1a0fa0aa3ee2d96af0073a70ed040fa6d90efffaeb3a956396cd5704912ddb2`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.02, 0.08] | 0.0232 |
+| `ki` | [0.4, 0.8] | 0.6453 |
+| `kp` | [1.3, 3.8] | 1.6573 |
+| `lag_steps` | [0, 3] (int) | 1 |
+| `step_max` | [0.02, 0.04] | 0.0398 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v1/imp_blend_b/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3774 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.486 |
+| `n_episodes` | 20 |
+| `stress_max` | 112.2 |
+| `stress_mean` | 87.12 |
+| `stress_p50` | 88.22 |
+| `stress_p90` | 101.8 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v1/imp_blend_c.md ADDED Viewed

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+# `imp_blend_c` — cocarry_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v1` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `1d575685149b7174` · parameter digest `cc417fc13ef686b0d64ab6feca899ccf5f19c57f0ff874ae4a57dbaf7f6fdcf0` · `weights_uri` `member://cocarry_impedance/cc417fc13ef686b0d64ab6feca899ccf5f19c57f0ff874ae4a57dbaf7f6fdcf0`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.02, 0.08] | 0.0281 |
+| `ki` | [0.4, 0.8] | 0.7293 |
+| `kp` | [1.3, 3.8] | 1.4134 |
+| `lag_steps` | [0, 3] (int) | 2 |
+| `step_max` | [0.02, 0.04] | 0.0391 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v1/imp_blend_c/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3616 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4797 |
+| `n_episodes` | 20 |
+| `stress_max` | 100.7 |
+| `stress_mean` | 80.84 |
+| `stress_p50` | 81.86 |
+| `stress_p90` | 96.13 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v1/imp_damp_high.md ADDED Viewed

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+# `imp_damp_high` — cocarry_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v1` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `597b7116f63e09d8` · parameter digest `509cec1613d436a03d9538961436f9c9653f74bff53abb625207043f8c4c9ad4` · `weights_uri` `member://cocarry_impedance/509cec1613d436a03d9538961436f9c9653f74bff53abb625207043f8c4c9ad4`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.075, 0.095] | 0.0817 |
+| `ki` | [0.5, 0.7] | 0.5119 |
+| `kp` | [2.3, 2.7] | 2.3582 |
+| `lag_steps` | [0, 0] (int) | 0 |
+| `step_max` | [0.028, 0.032] | 0.0302 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v1/imp_damp_high/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3234 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4329 |
+| `n_episodes` | 20 |
+| `stress_max` | 105 |
+| `stress_mean` | 83.63 |
+| `stress_p50` | 84.57 |
+| `stress_p90` | 98.37 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v1/imp_damp_low.md ADDED Viewed

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+# `imp_damp_low` — cocarry_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v1` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `5ac85b19c0f522ee` · parameter digest `25c318a230e97df9c9168d0e8f98dc9c3227e4cdada4cb45dff7d09f31f64633` · `weights_uri` `member://cocarry_impedance/25c318a230e97df9c9168d0e8f98dc9c3227e4cdada4cb45dff7d09f31f64633`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.015, 0.025] | 0.0165 |
+| `ki` | [0.5, 0.7] | 0.5409 |
+| `kp` | [2.3, 2.7] | 2.6044 |
+| `lag_steps` | [0, 0] (int) | 0 |
+| `step_max` | [0.028, 0.032] | 0.0308 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v1/imp_damp_low/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3291 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4361 |
+| `n_episodes` | 20 |
+| `stress_max` | 105.1 |
+| `stress_mean` | 87.82 |
+| `stress_p50` | 93.42 |
+| `stress_p90` | 100.8 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v1/imp_fast.md ADDED Viewed

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+# `imp_fast` — cocarry_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v1` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** private · **Role.** partner_arm
+**Identity.** `partner_id` `bfa69a8aa3979220` · parameter digest `0fe7eb258c8ed441e0f3e302684d2aa0f0de539cb921bc931401b3846ae0fed8` · `weights_uri` `member://cocarry_impedance/0fe7eb258c8ed441e0f3e302684d2aa0f0de539cb921bc931401b3846ae0fed8`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Private member: the exact values are **withheld** (ADR-009 as amended — published hashes, withheld parameters). They were drawn from the committed box under the maintainer-held seed; the digest below verifies any authorised local re-derivation.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.035, 0.045] | *withheld* |
+| `ki` | [0.5, 0.7] | *withheld* |
+| `kp` | [2.3, 2.7] | *withheld* |
+| `lag_steps` | [0, 0] (int) | *withheld* |
+| `step_max` | [0.04, 0.047] | *withheld* |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v1/imp_fast/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3906 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4899 |
+| `n_episodes` | 20 |
+| `stress_max` | 125.1 |
+| `stress_mean` | 104.1 |
+| `stress_p50` | 117.2 |
+| `stress_p90` | 121.4 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v1/imp_lag_bounded.md ADDED Viewed

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+# `imp_lag_bounded` — cocarry_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v1` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `a1d7304eb9f423a6` · parameter digest `fc385b64d1b4fc869b62c8d0f19b5959693ad7b634337667d25a8716d546b74f` · `weights_uri` `member://cocarry_impedance/fc385b64d1b4fc869b62c8d0f19b5959693ad7b634337667d25a8716d546b74f`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.035, 0.045] | 0.0353 |
+| `ki` | [0.5, 0.7] | 0.6211 |
+| `kp` | [2.3, 2.7] | 2.5576 |
+| `lag_steps` | [3, 6] (int) | 5 |
+| `step_max` | [0.028, 0.032] | 0.0294 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v1/imp_lag_bounded/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.2697 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4174 |
+| `n_episodes` | 20 |
+| `stress_max` | 77.31 |
+| `stress_mean` | 67.11 |
+| `stress_p50` | 66.69 |
+| `stress_p90` | 70.72 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v1/imp_nominal.md ADDED Viewed

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+# `imp_nominal` — cocarry_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v1` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `3d43a19c051fc8bc` · parameter digest `92eb953311e1b0a0d7904f41717daa0d58d08bfee1a91b9ffa132939faf83fc3` · `weights_uri` `member://cocarry_impedance/92eb953311e1b0a0d7904f41717daa0d58d08bfee1a91b9ffa132939faf83fc3`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.035, 0.045] | 0.0374 |
+| `ki` | [0.5, 0.7] | 0.5431 |
+| `kp` | [2.3, 2.7] | 2.3969 |
+| `lag_steps` | [0, 0] (int) | 0 |
+| `step_max` | [0.028, 0.032] | 0.0306 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v1/imp_nominal/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3275 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4352 |
+| `n_episodes` | 20 |
+| `stress_max` | 105.6 |
+| `stress_mean` | 89.64 |
+| `stress_p50` | 90.47 |
+| `stress_p90` | 101.4 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v1/imp_slow.md ADDED Viewed

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+# `imp_slow` — cocarry_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v1` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** private · **Role.** partner_arm
+**Identity.** `partner_id` `e4a8042f3c362fde` · parameter digest `f769f5f281c10dcb6b7bbec47afd9be011fd615fa3f8176edbe0f33ab2403fcd` · `weights_uri` `member://cocarry_impedance/f769f5f281c10dcb6b7bbec47afd9be011fd615fa3f8176edbe0f33ab2403fcd`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Private member: the exact values are **withheld** (ADR-009 as amended — published hashes, withheld parameters). They were drawn from the committed box under the maintainer-held seed; the digest below verifies any authorised local re-derivation.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.035, 0.045] | *withheld* |
+| `ki` | [0.5, 0.7] | *withheld* |
+| `kp` | [2.3, 2.7] | *withheld* |
+| `lag_steps` | [0, 0] (int) | *withheld* |
+| `step_max` | [0.016, 0.021] | *withheld* |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v1/imp_slow/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.2418 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.3752 |
+| `n_episodes` | 20 |
+| `stress_max` | 85.07 |
+| `stress_mean` | 60.45 |
+| `stress_p50` | 62.41 |
+| `stress_p90` | 69.27 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v1/imp_stiff_high.md ADDED Viewed

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+# `imp_stiff_high` — cocarry_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v1` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `4d0ae9868c4c10c8` · parameter digest `212f054214340e8e69849cf63594c71bf92fdf026cddaf37c8e4f67e3999e8ff` · `weights_uri` `member://cocarry_impedance/212f054214340e8e69849cf63594c71bf92fdf026cddaf37c8e4f67e3999e8ff`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.035, 0.045] | 0.0364 |
+| `ki` | [0.5, 0.7] | 0.6856 |
+| `kp` | [3.5, 4.3] | 3.6431 |
+| `lag_steps` | [0, 0] (int) | 0 |
+| `step_max` | [0.028, 0.032] | 0.029 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v1/imp_stiff_high/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3177 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4274 |
+| `n_episodes` | 20 |
+| `stress_max` | 109.6 |
+| `stress_mean` | 80.4 |
+| `stress_p50` | 80.4 |
+| `stress_p90` | 94.67 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v1/imp_stiff_low.md ADDED Viewed

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+# `imp_stiff_low` — cocarry_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v1` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `2551311d47ba8e57` · parameter digest `a5d61ee76a1a7a8a7f9241d25fca8db825215da0babb8fcda096e2bec36073a0` · `weights_uri` `member://cocarry_impedance/a5d61ee76a1a7a8a7f9241d25fca8db825215da0babb8fcda096e2bec36073a0`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.035, 0.045] | 0.0442 |
+| `ki` | [0.5, 0.7] | 0.6616 |
+| `kp` | [1.1, 1.6] | 1.1991 |
+| `lag_steps` | [0, 0] (int) | 0 |
+| `step_max` | [0.028, 0.032] | 0.0286 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v1/imp_stiff_low/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.313 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4232 |
+| `n_episodes` | 20 |
+| `stress_max` | 103.9 |
+| `stress_mean` | 81.57 |
+| `stress_p50` | 80.36 |
+| `stress_p90` | 97.9 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v1/index.md ADDED Viewed

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+# Partner set `cocarry_partners@v1`
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+Task: `cocarry@v1` · members: 11 (8 public / 3 private) · committed floor: 0.75 on the `fingerprint` probe.
+Scripted stratum of the cocarry@1 set (ADR-009 as amended 2026-07-05). Reference ego for the probe/floor: the default-gain matched impedance controller (ADR-026 §Decision 1). Frozen learned members join as version 2 (ADR-027 §Versioning).
+The public/private split is the deterministic ADR-009 rule — members ordered by `partner_id` hash, the first ⌈0.7·N⌉ public — recomputable from this roster; no hand-picking. Private members' behavioural parameters are withheld (published hashes, withheld parameters): they derive from the maintainer-held seed and verify against the committed digests. Set changes bump the version (ADR-027 §Versioning); frozen learned members join as a version bump.
+| member | split | role | `partner_id` | floor success | fingerprint success |
+| --- | --- | --- | --- | --- | --- |
+| [`imp_nominal`](imp_nominal.md) | public | partner_arm | `3d43a19c051fc8bc` | 1 | 1 |
+| [`imp_stiff_low`](imp_stiff_low.md) | public | partner_arm | `2551311d47ba8e57` | 1 | 1 |
+| [`imp_stiff_high`](imp_stiff_high.md) | public | partner_arm | `4d0ae9868c4c10c8` | 1 | 1 |
+| [`imp_damp_low`](imp_damp_low.md) | public | partner_arm | `5ac85b19c0f522ee` | 1 | 1 |
+| [`imp_damp_high`](imp_damp_high.md) | public | partner_arm | `597b7116f63e09d8` | 1 | 1 |
+| [`imp_slow`](imp_slow.md) | private | partner_arm | `e4a8042f3c362fde` | 1 | 1 |
+| [`imp_fast`](imp_fast.md) | private | partner_arm | `bfa69a8aa3979220` | 1 | 1 |
+| [`imp_lag_bounded`](imp_lag_bounded.md) | public | partner_arm | `a1d7304eb9f423a6` | 1 | 1 |
+| [`imp_blend_a`](imp_blend_a.md) | private | partner_arm | `b6975bc340b25133` | 1 | 1 |
+| [`imp_blend_b`](imp_blend_b.md) | public | partner_arm | `6883ea1ebef2f0d3` | 1 | 1 |
+| [`imp_blend_c`](imp_blend_c.md) | public | partner_arm | `1d575685149b7174` | 1 | 1 |
+Fingerprint archive: `spikes/results/partner-fingerprints/cocarry_partners-v1/` (per-member ADR-028 v3 bundles + `fingerprints.json` + `SHA256SUMS.txt`).

cards/cocarry_partners-v2/imp_blend_a.md ADDED Viewed

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+# `imp_blend_a` — cocarry_partners@v2
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v2` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** private · **Role.** partner_arm
+**Identity.** `partner_id` `b6975bc340b25133` · parameter digest `66ec45f3bc06acf1ca79f5f3804aff757920c3db8c02a0cdd59675cad241c1bf` · `weights_uri` `member://cocarry_impedance/66ec45f3bc06acf1ca79f5f3804aff757920c3db8c02a0cdd59675cad241c1bf`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Private member: the exact values are **withheld** (ADR-009 as amended — published hashes, withheld parameters). They were drawn from the committed box under the maintainer-held seed; the digest below verifies any authorised local re-derivation.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.02, 0.08] | *withheld* |
+| `ki` | [0.4, 0.8] | *withheld* |
+| `kp` | [1.3, 3.8] | *withheld* |
+| `lag_steps` | [0, 3] (int) | *withheld* |
+| `step_max` | [0.02, 0.04] | *withheld* |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/imp_blend_a/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3683 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4705 |
+| `n_episodes` | 20 |
+| `stress_max` | 114.7 |
+| `stress_mean` | 94.41 |
+| `stress_p50` | 101.6 |
+| `stress_p90` | 111.8 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v2/imp_blend_b.md ADDED Viewed

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+# `imp_blend_b` — cocarry_partners@v2
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v2` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `6883ea1ebef2f0d3` · parameter digest `b1a0fa0aa3ee2d96af0073a70ed040fa6d90efffaeb3a956396cd5704912ddb2` · `weights_uri` `member://cocarry_impedance/b1a0fa0aa3ee2d96af0073a70ed040fa6d90efffaeb3a956396cd5704912ddb2`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.02, 0.08] | 0.0232 |
+| `ki` | [0.4, 0.8] | 0.6453 |
+| `kp` | [1.3, 3.8] | 1.6573 |
+| `lag_steps` | [0, 3] (int) | 1 |
+| `step_max` | [0.02, 0.04] | 0.0398 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/imp_blend_b/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3774 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.486 |
+| `n_episodes` | 20 |
+| `stress_max` | 112.2 |
+| `stress_mean` | 87.12 |
+| `stress_p50` | 88.22 |
+| `stress_p90` | 101.8 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v2/imp_blend_c.md ADDED Viewed

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+# `imp_blend_c` — cocarry_partners@v2
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v2` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `1d575685149b7174` · parameter digest `cc417fc13ef686b0d64ab6feca899ccf5f19c57f0ff874ae4a57dbaf7f6fdcf0` · `weights_uri` `member://cocarry_impedance/cc417fc13ef686b0d64ab6feca899ccf5f19c57f0ff874ae4a57dbaf7f6fdcf0`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.02, 0.08] | 0.0281 |
+| `ki` | [0.4, 0.8] | 0.7293 |
+| `kp` | [1.3, 3.8] | 1.4134 |
+| `lag_steps` | [0, 3] (int) | 2 |
+| `step_max` | [0.02, 0.04] | 0.0391 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/imp_blend_c/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3616 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4797 |
+| `n_episodes` | 20 |
+| `stress_max` | 100.7 |
+| `stress_mean` | 80.84 |
+| `stress_p50` | 81.86 |
+| `stress_p90` | 96.13 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v2/imp_damp_high.md ADDED Viewed

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+# `imp_damp_high` — cocarry_partners@v2
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v2` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `597b7116f63e09d8` · parameter digest `509cec1613d436a03d9538961436f9c9653f74bff53abb625207043f8c4c9ad4` · `weights_uri` `member://cocarry_impedance/509cec1613d436a03d9538961436f9c9653f74bff53abb625207043f8c4c9ad4`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.075, 0.095] | 0.0817 |
+| `ki` | [0.5, 0.7] | 0.5119 |
+| `kp` | [2.3, 2.7] | 2.3582 |
+| `lag_steps` | [0, 0] (int) | 0 |
+| `step_max` | [0.028, 0.032] | 0.0302 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/imp_damp_high/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3234 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4329 |
+| `n_episodes` | 20 |
+| `stress_max` | 105 |
+| `stress_mean` | 83.63 |
+| `stress_p50` | 84.57 |
+| `stress_p90` | 98.37 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v2/imp_damp_low.md ADDED Viewed

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+# `imp_damp_low` — cocarry_partners@v2
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v2` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `5ac85b19c0f522ee` · parameter digest `25c318a230e97df9c9168d0e8f98dc9c3227e4cdada4cb45dff7d09f31f64633` · `weights_uri` `member://cocarry_impedance/25c318a230e97df9c9168d0e8f98dc9c3227e4cdada4cb45dff7d09f31f64633`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.015, 0.025] | 0.0165 |
+| `ki` | [0.5, 0.7] | 0.5409 |
+| `kp` | [2.3, 2.7] | 2.6044 |
+| `lag_steps` | [0, 0] (int) | 0 |
+| `step_max` | [0.028, 0.032] | 0.0308 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/imp_damp_low/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3291 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4361 |
+| `n_episodes` | 20 |
+| `stress_max` | 105.1 |
+| `stress_mean` | 87.82 |
+| `stress_p50` | 93.42 |
+| `stress_p90` | 100.8 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v2/imp_fast.md ADDED Viewed

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+# `imp_fast` — cocarry_partners@v2
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v2` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** private · **Role.** partner_arm
+**Identity.** `partner_id` `bfa69a8aa3979220` · parameter digest `0fe7eb258c8ed441e0f3e302684d2aa0f0de539cb921bc931401b3846ae0fed8` · `weights_uri` `member://cocarry_impedance/0fe7eb258c8ed441e0f3e302684d2aa0f0de539cb921bc931401b3846ae0fed8`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Private member: the exact values are **withheld** (ADR-009 as amended — published hashes, withheld parameters). They were drawn from the committed box under the maintainer-held seed; the digest below verifies any authorised local re-derivation.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.035, 0.045] | *withheld* |
+| `ki` | [0.5, 0.7] | *withheld* |
+| `kp` | [2.3, 2.7] | *withheld* |
+| `lag_steps` | [0, 0] (int) | *withheld* |
+| `step_max` | [0.04, 0.047] | *withheld* |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/imp_fast/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3906 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4899 |
+| `n_episodes` | 20 |
+| `stress_max` | 125.1 |
+| `stress_mean` | 104.1 |
+| `stress_p50` | 117.2 |
+| `stress_p90` | 121.4 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v2/imp_lag_bounded.md ADDED Viewed

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+# `imp_lag_bounded` — cocarry_partners@v2
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v2` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `a1d7304eb9f423a6` · parameter digest `fc385b64d1b4fc869b62c8d0f19b5959693ad7b634337667d25a8716d546b74f` · `weights_uri` `member://cocarry_impedance/fc385b64d1b4fc869b62c8d0f19b5959693ad7b634337667d25a8716d546b74f`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.035, 0.045] | 0.0353 |
+| `ki` | [0.5, 0.7] | 0.6211 |
+| `kp` | [2.3, 2.7] | 2.5576 |
+| `lag_steps` | [3, 6] (int) | 5 |
+| `step_max` | [0.028, 0.032] | 0.0294 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/imp_lag_bounded/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.2697 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4174 |
+| `n_episodes` | 20 |
+| `stress_max` | 77.31 |
+| `stress_mean` | 67.11 |
+| `stress_p50` | 66.69 |
+| `stress_p90` | 70.72 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v2/imp_nominal.md ADDED Viewed

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+# `imp_nominal` — cocarry_partners@v2
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v2` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `3d43a19c051fc8bc` · parameter digest `92eb953311e1b0a0d7904f41717daa0d58d08bfee1a91b9ffa132939faf83fc3` · `weights_uri` `member://cocarry_impedance/92eb953311e1b0a0d7904f41717daa0d58d08bfee1a91b9ffa132939faf83fc3`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.035, 0.045] | 0.0374 |
+| `ki` | [0.5, 0.7] | 0.5431 |
+| `kp` | [2.3, 2.7] | 2.3969 |
+| `lag_steps` | [0, 0] (int) | 0 |
+| `step_max` | [0.028, 0.032] | 0.0306 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/imp_nominal/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3275 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4352 |
+| `n_episodes` | 20 |
+| `stress_max` | 105.6 |
+| `stress_mean` | 89.64 |
+| `stress_p50` | 90.47 |
+| `stress_p90` | 101.4 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v2/imp_slow.md ADDED Viewed

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+# `imp_slow` — cocarry_partners@v2
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v2` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** private · **Role.** partner_arm
+**Identity.** `partner_id` `e4a8042f3c362fde` · parameter digest `f769f5f281c10dcb6b7bbec47afd9be011fd615fa3f8176edbe0f33ab2403fcd` · `weights_uri` `member://cocarry_impedance/f769f5f281c10dcb6b7bbec47afd9be011fd615fa3f8176edbe0f33ab2403fcd`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Private member: the exact values are **withheld** (ADR-009 as amended — published hashes, withheld parameters). They were drawn from the committed box under the maintainer-held seed; the digest below verifies any authorised local re-derivation.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.035, 0.045] | *withheld* |
+| `ki` | [0.5, 0.7] | *withheld* |
+| `kp` | [2.3, 2.7] | *withheld* |
+| `lag_steps` | [0, 0] (int) | *withheld* |
+| `step_max` | [0.016, 0.021] | *withheld* |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/imp_slow/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.2418 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.3752 |
+| `n_episodes` | 20 |
+| `stress_max` | 85.07 |
+| `stress_mean` | 60.45 |
+| `stress_p50` | 62.41 |
+| `stress_p90` | 69.27 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v2/imp_stiff_high.md ADDED Viewed

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+# `imp_stiff_high` — cocarry_partners@v2
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v2` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `4d0ae9868c4c10c8` · parameter digest `212f054214340e8e69849cf63594c71bf92fdf026cddaf37c8e4f67e3999e8ff` · `weights_uri` `member://cocarry_impedance/212f054214340e8e69849cf63594c71bf92fdf026cddaf37c8e4f67e3999e8ff`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.035, 0.045] | 0.0364 |
+| `ki` | [0.5, 0.7] | 0.6856 |
+| `kp` | [3.5, 4.3] | 3.6431 |
+| `lag_steps` | [0, 0] (int) | 0 |
+| `step_max` | [0.028, 0.032] | 0.029 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/imp_stiff_high/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.3177 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4274 |
+| `n_episodes` | 20 |
+| `stress_max` | 109.6 |
+| `stress_mean` | 80.4 |
+| `stress_p50` | 80.4 |
+| `stress_p90` | 94.67 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

cards/cocarry_partners-v2/imp_stiff_low.md ADDED Viewed

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+# `imp_stiff_low` — cocarry_partners@v2
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v2` (task `cocarry@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `2551311d47ba8e57` · parameter digest `a5d61ee76a1a7a8a7f9241d25fca8db825215da0babb8fcda096e2bec36073a0` · `weights_uri` `member://cocarry_impedance/a5d61ee76a1a7a8a7f9241d25fca8db825215da0babb8fcda096e2bec36073a0`
+## What this partner does
+A deterministic end-effector-space PI impedance controller for one co-carry arm (ADR-026 §Decision 1): it drives its bar-end toward the cooperative goal along a straight Cartesian path through a damped pseudo-inverse Jacobian, sharing the bar load compliantly with the ego arm. `kp`/`ki` set the Cartesian PI gains, `step_max` the per-step command clip (response speed), `damping` the pseudo-inverse regularisation, and `lag_steps` a bounded transport delay (a sluggish-but-competent member: delayed but convergent tracking).
+## Construction provenance
+Built from registry class `cocarry_impedance` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `damping` | [0.035, 0.045] | 0.0442 |
+| `ki` | [0.5, 0.7] | 0.6616 |
+| `kp` | [1.1, 1.6] | 1.1991 |
+| `lag_steps` | [0, 0] (int) | 0 |
+| `step_max` | [0.028, 0.032] | 0.0286 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/imp_stiff_low/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.313 |
+| `action_abs_p90` | 1 |
+| `action_std` | 0.4232 |
+| `n_episodes` | 20 |
+| `stress_max` | 103.9 |
+| `stress_mean` | 81.57 |
+| `stress_p50` | 80.36 |
+| `stress_p90` | 97.9 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.75 → **PASS**

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+# Partner set `cocarry_partners@v2`
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+Task: `cocarry@v1` · members: 12 (9 public / 3 private) · committed floor: 0.75 on the `fingerprint` probe.
+v1's scripted stratum plus the campaign's jointly-trained partner-side stratum (ADR-027 §Versioning; ADR-011 §Decision as amended). Learned members carry real checkpoint URIs + committed payload SHA-256 custody; cross-play competence with the scripted reference ego is measured by the fingerprint/floor probe, not assumed — and it BIT: of the five preregistered jointly-trained candidates, four failed the 0.75 floor (0.000/0.000/0.050/0.650) and were dropped; joint_s4 (0.800) is the one admitted learned member. Evidence: spikes/results/partner-fingerprints/cocarry_partners-v2-dropped-candidates/. Split re-derived over the surviving 12; every v1 label is reproduced.
+The public/private split is the deterministic ADR-009 rule — members ordered by `partner_id` hash, the first ⌈0.7·N⌉ public — recomputable from this roster; no hand-picking. Private members' behavioural parameters are withheld (published hashes, withheld parameters): they derive from the maintainer-held seed and verify against the committed digests. Set changes bump the version (ADR-027 §Versioning); frozen learned members join as a version bump.
+| member | split | role | `partner_id` | floor success | fingerprint success |
+| --- | --- | --- | --- | --- | --- |
+| [`imp_nominal`](imp_nominal.md) | public | partner_arm | `3d43a19c051fc8bc` | 1 | 1 |
+| [`imp_stiff_low`](imp_stiff_low.md) | public | partner_arm | `2551311d47ba8e57` | 1 | 1 |
+| [`imp_stiff_high`](imp_stiff_high.md) | public | partner_arm | `4d0ae9868c4c10c8` | 1 | 1 |
+| [`imp_damp_low`](imp_damp_low.md) | public | partner_arm | `5ac85b19c0f522ee` | 1 | 1 |
+| [`imp_damp_high`](imp_damp_high.md) | public | partner_arm | `597b7116f63e09d8` | 1 | 1 |
+| [`imp_slow`](imp_slow.md) | private | partner_arm | `e4a8042f3c362fde` | 1 | 1 |
+| [`imp_fast`](imp_fast.md) | private | partner_arm | `bfa69a8aa3979220` | 1 | 1 |
+| [`imp_lag_bounded`](imp_lag_bounded.md) | public | partner_arm | `a1d7304eb9f423a6` | 1 | 1 |
+| [`imp_blend_a`](imp_blend_a.md) | private | partner_arm | `b6975bc340b25133` | 1 | 1 |
+| [`imp_blend_b`](imp_blend_b.md) | public | partner_arm | `6883ea1ebef2f0d3` | 1 | 1 |
+| [`imp_blend_c`](imp_blend_c.md) | public | partner_arm | `1d575685149b7174` | 1 | 1 |
+| [`joint_s4`](joint_s4.md) | public | partner_arm | `5118f7828d8ac7b8` | 0.8 | 0.8 |
+Fingerprint archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/` (per-member ADR-028 v3 bundles + `fingerprints.json` + `SHA256SUMS.txt`).

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+# `joint_s4` — cocarry_partners@v2
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `cocarry_partners@v2` (task `cocarry@v1`) · **Stratum.** learned · **Split.** public · **Role.** partner_arm
+**Identity.** `partner_id` `5118f7828d8ac7b8` · parameter digest `44136fa355b3678a1146ad16f7e8649e94fb4fc21fe77e8310c060f61caaff8a` · `weights_uri` `local://artifacts/e9040cbc3c3b2456_step150000.pt`
+## What this partner does
+A frozen jointly-trained MAPPO co-carry seat (ADR-011 §Decision as amended): the partner-side actor of a pair checkpoint, loaded with SHA-256 sidecar verification and run deterministic under no-grad (ADR-018/I3 black-box contract). It reads the symmetric full state (own + other proprioception, bar pose, goal) assembled from raw obs leaves — the same interface it trained on. Its cooperative style is whatever joint training produced with ITS ego; cross-play with any other ego is exactly the partner-familiarity question the zoo measures, and the fingerprint below characterises it behaviourally.
+## Construction provenance
+Built from registry class `frozen_cocarry_joint` (`PartnerSpec(seed=4, checkpoint_step=150000)`). Learned member: behaviour lives in the frozen checkpoint `local://artifacts/e9040cbc3c3b2456_step150000.pt` (committed payload SHA-256 `3107b1bde5201d0350221f527839cda7ee6ac5698c20df6f80eb80453fb5ae18`; the loading wrapper re-verifies the ADR-002 sidecar). **Provenance.** trained jointly with the ego actor of pair checkpoint sha256 3107b1bde5201d0350221f527839cda7ee6ac5698c20df6f80eb80453fb5ae18 (training seed 4, selected step 150000 under the ADR-027 checkpoint-selection rule)
+*(no parameter box — a learned member's behaviour is its frozen checkpoint; custody rides on the committed payload SHA-256 above)*
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/cocarry_partners-v2/joint_s4/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.1364 |
+| `action_abs_p90` | 0.2652 |
+| `action_std` | 0.1621 |
+| `n_episodes` | 20 |
+| `stress_max` | 44.23 |
+| `stress_mean` | 33.19 |
+| `stress_p50` | 32.57 |
+| `stress_p90` | 36.63 |
+| `success_rate` | 0.8 |
+**Competence floor.** floor probe `fingerprint` — success 0.8 vs committed floor 0.75 → **PASS**

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+# Partner set `handover_place_partners@v1`
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+Task: `handover_place@v1` · members: 6 (5 public / 1 private) · committed floor: 0.9 on the `free_regrasp` probe.
+Scripted stratum of the handover_place@1 set (ADR-009 as amended). Fingerprint probe at the canonical coupling-valid anchor cell (clearance 0.2, fast basis, takt 1.5 s — the CB-04 A2 committed env numbers); competence floor at the Gate-0 free-re-grasp endpoint, where budget pressure is off and only a wall scores low. The anchor-cell success spread across members (matched ~1.0 down to bias-45 ~0.25) is the measured coupling, not incompetence.
+The public/private split is the deterministic ADR-009 rule — members ordered by `partner_id` hash, the first ⌈0.7·N⌉ public — recomputable from this roster; no hand-picking. Private members' behavioural parameters are withheld (published hashes, withheld parameters): they derive from the maintainer-held seed and verify against the committed digests. Set changes bump the version (ADR-027 §Versioning); frozen learned members join as a version bump.
+| member | split | role | `partner_id` | floor success | fingerprint success |
+| --- | --- | --- | --- | --- | --- |
+| [`presenter_matched`](presenter_matched.md) | private | presenter | `dd261cfdde60ca43` | 1 | 1 |
+| [`presenter_mismatch_15`](presenter_mismatch_15.md) | public | presenter | `18820ddf850874f9` | 1 | 1 |
+| [`presenter_mismatch_30`](presenter_mismatch_30.md) | public | presenter | `7ec27e8d0c2efd6e` | 1 | 0.65 |
+| [`presenter_mismatch_45`](presenter_mismatch_45.md) | public | presenter | `046bc72af285fbd3` | 1 | 0.25 |
+| [`presenter_offgrid_a`](presenter_offgrid_a.md) | public | presenter | `7bb5130fbc52906e` | 1 | 1 |
+| [`presenter_offgrid_b`](presenter_offgrid_b.md) | public | presenter | `7c555ca368e36f86` | 1 | 0.95 |
+Fingerprint archive: `spikes/results/partner-fingerprints/handover_place_partners-v1/` (per-member ADR-028 v3 bundles + `fingerprints.json` + `SHA256SUMS.txt`).

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+# `presenter_matched` — handover_place_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `handover_place_partners@v1` (task `handover_place@v1`) · **Stratum.** scripted · **Split.** private · **Role.** presenter
+**Identity.** `partner_id` `dd261cfdde60ca43` · parameter digest `d4f8fcf58e750c8dcd223ff4e78cb08da29f758d8b2fb03b9886789711915123` · `weights_uri` `member://handover_presenter/d4f8fcf58e750c8dcd223ff4e78cb08da29f758d8b2fb03b9886789711915123`
+## What this partner does
+The frozen scripted presenter (ADR-026; Gate-0 rig): it hands the part into the shared workspace and lets go, binding the ego only through the presented initial condition. The grasp-pose error distribution (`grasp_pose_bias_deg`/`grasp_pose_sigma_deg`) is the coupling channel; lateral offset is success-side by construction and timing skew rides the takt budget.
+## Construction provenance
+Built from registry class `handover_presenter` (`PartnerSpec(seed=0, checkpoint_step=None)`). Private member: the exact values are **withheld** (ADR-009 as amended — published hashes, withheld parameters). They were drawn from the committed box under the maintainer-held seed; the digest below verifies any authorised local re-derivation.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `grasp_pose_bias_deg` | [0, 0] | *withheld* |
+| `grasp_pose_sigma_deg` | [2, 2] | *withheld* |
+| `lateral_offset_x_m` | [0, 0] | *withheld* |
+| `lateral_offset_y_m` | [0, 0] | *withheld* |
+| `lateral_sigma_m` | [0.0002, 0.0002] | *withheld* |
+| `timing_skew_bias_s` | [0, 0] | *withheld* |
+| `timing_skew_sigma_s` | [0.05, 0.05] | *withheld* |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/handover_place_partners-v1/presenter_matched/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.296 |
+| `action_abs_p90` | 0.8217 |
+| `action_std` | 0.5045 |
+| `n_episodes` | 20 |
+| `stress_max` | 0 |
+| `stress_mean` | 0 |
+| `stress_p50` | 0 |
+| `stress_p90` | 0 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `free_regrasp` — success 1 vs committed floor 0.9 → **PASS**

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+# `presenter_mismatch_15` — handover_place_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `handover_place_partners@v1` (task `handover_place@v1`) · **Stratum.** scripted · **Split.** public · **Role.** presenter
+**Identity.** `partner_id` `18820ddf850874f9` · parameter digest `21dad7ccf5614c6990953b65b0287d41deeb18709d40647555c210a65f75850e` · `weights_uri` `member://handover_presenter/21dad7ccf5614c6990953b65b0287d41deeb18709d40647555c210a65f75850e`
+## What this partner does
+The frozen scripted presenter (ADR-026; Gate-0 rig): it hands the part into the shared workspace and lets go, binding the ego only through the presented initial condition. The grasp-pose error distribution (`grasp_pose_bias_deg`/`grasp_pose_sigma_deg`) is the coupling channel; lateral offset is success-side by construction and timing skew rides the takt budget.
+## Construction provenance
+Built from registry class `handover_presenter` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `grasp_pose_bias_deg` | [15, 15] | 15.0 |
+| `grasp_pose_sigma_deg` | [10, 10] | 10.0 |
+| `lateral_offset_x_m` | [0, 0] | 0.0 |
+| `lateral_offset_y_m` | [0, 0] | 0.0 |
+| `lateral_sigma_m` | [0.0002, 0.0002] | 0.0002 |
+| `timing_skew_bias_s` | [0.2, 0.2] | 0.2 |
+| `timing_skew_sigma_s` | [0.1, 0.1] | 0.1 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/handover_place_partners-v1/presenter_mismatch_15/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 3.286 |
+| `action_abs_p90` | 9.113 |
+| `action_std` | 5.583 |
+| `n_episodes` | 20 |
+| `stress_max` | 14.35 |
+| `stress_mean` | 0.7173 |
+| `stress_p50` | 0 |
+| `stress_p90` | 0 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `free_regrasp` — success 1 vs committed floor 0.9 → **PASS**

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+# `presenter_mismatch_30` — handover_place_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `handover_place_partners@v1` (task `handover_place@v1`) · **Stratum.** scripted · **Split.** public · **Role.** presenter
+**Identity.** `partner_id` `7ec27e8d0c2efd6e` · parameter digest `8a14dce84204dd4fad781eaa34aace8d037439a0b74ecc57e2d16ac72c3397a2` · `weights_uri` `member://handover_presenter/8a14dce84204dd4fad781eaa34aace8d037439a0b74ecc57e2d16ac72c3397a2`
+## What this partner does
+The frozen scripted presenter (ADR-026; Gate-0 rig): it hands the part into the shared workspace and lets go, binding the ego only through the presented initial condition. The grasp-pose error distribution (`grasp_pose_bias_deg`/`grasp_pose_sigma_deg`) is the coupling channel; lateral offset is success-side by construction and timing skew rides the takt budget.
+## Construction provenance
+Built from registry class `handover_presenter` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `grasp_pose_bias_deg` | [30, 30] | 30.0 |
+| `grasp_pose_sigma_deg` | [10, 10] | 10.0 |
+| `lateral_offset_x_m` | [0, 0] | 0.0 |
+| `lateral_offset_y_m` | [0, 0] | 0.0 |
+| `lateral_sigma_m` | [0.0002, 0.0002] | 0.0002 |
+| `timing_skew_bias_s` | [0.2, 0.2] | 0.2 |
+| `timing_skew_sigma_s` | [0.1, 0.1] | 0.1 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/handover_place_partners-v1/presenter_mismatch_30/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 6.829 |
+| `action_abs_p90` | 19.03 |
+| `action_std` | 11.7 |
+| `n_episodes` | 20 |
+| `stress_max` | 126.8 |
+| `stress_mean` | 32.97 |
+| `stress_p50` | 2.517 |
+| `stress_p90` | 103.5 |
+| `success_rate` | 0.65 |
+**Competence floor.** floor probe `free_regrasp` — success 1 vs committed floor 0.9 → **PASS**

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+# `presenter_mismatch_45` — handover_place_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `handover_place_partners@v1` (task `handover_place@v1`) · **Stratum.** scripted · **Split.** public · **Role.** presenter
+**Identity.** `partner_id` `046bc72af285fbd3` · parameter digest `4ad220f5eb49a4c94449ac90c074b7694c2f18f86ff72a01ad38c16d08c412f5` · `weights_uri` `member://handover_presenter/4ad220f5eb49a4c94449ac90c074b7694c2f18f86ff72a01ad38c16d08c412f5`
+## What this partner does
+The frozen scripted presenter (ADR-026; Gate-0 rig): it hands the part into the shared workspace and lets go, binding the ego only through the presented initial condition. The grasp-pose error distribution (`grasp_pose_bias_deg`/`grasp_pose_sigma_deg`) is the coupling channel; lateral offset is success-side by construction and timing skew rides the takt budget.
+## Construction provenance
+Built from registry class `handover_presenter` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `grasp_pose_bias_deg` | [45, 45] | 45.0 |
+| `grasp_pose_sigma_deg` | [10, 10] | 10.0 |
+| `lateral_offset_x_m` | [0, 0] | 0.0 |
+| `lateral_offset_y_m` | [0, 0] | 0.0 |
+| `lateral_sigma_m` | [0.0002, 0.0002] | 0.0002 |
+| `timing_skew_bias_s` | [0.2, 0.2] | 0.2 |
+| `timing_skew_sigma_s` | [0.1, 0.1] | 0.1 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/handover_place_partners-v1/presenter_mismatch_45/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 10.58 |
+| `action_abs_p90` | 29.53 |
+| `action_std` | 18.2 |
+| `n_episodes` | 20 |
+| `stress_max` | 239.3 |
+| `stress_mean` | 115 |
+| `stress_p50` | 112.7 |
+| `stress_p90` | 216 |
+| `success_rate` | 0.25 |
+**Competence floor.** floor probe `free_regrasp` — success 1 vs committed floor 0.9 → **PASS**

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+# `presenter_offgrid_a` — handover_place_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `handover_place_partners@v1` (task `handover_place@v1`) · **Stratum.** scripted · **Split.** public · **Role.** presenter
+**Identity.** `partner_id` `7bb5130fbc52906e` · parameter digest `d4b9324e9d4f185ee33f3539bd37ccf83bf0ae8a516e16a9432437c4f19d16a0` · `weights_uri` `member://handover_presenter/d4b9324e9d4f185ee33f3539bd37ccf83bf0ae8a516e16a9432437c4f19d16a0`
+## What this partner does
+The frozen scripted presenter (ADR-026; Gate-0 rig): it hands the part into the shared workspace and lets go, binding the ego only through the presented initial condition. The grasp-pose error distribution (`grasp_pose_bias_deg`/`grasp_pose_sigma_deg`) is the coupling channel; lateral offset is success-side by construction and timing skew rides the takt budget.
+## Construction provenance
+Built from registry class `handover_presenter` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `grasp_pose_bias_deg` | [15, 45] | 15.6982 |
+| `grasp_pose_sigma_deg` | [8, 12] | 11.661 |
+| `lateral_offset_x_m` | [0, 0] | 0.0 |
+| `lateral_offset_y_m` | [0, 0] | 0.0 |
+| `lateral_sigma_m` | [0.0001, 0.0003] | 0.0002 |
+| `timing_skew_bias_s` | [0.1, 0.3] | 0.2855 |
+| `timing_skew_sigma_s` | [0.05, 0.15] | 0.1242 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/handover_place_partners-v1/presenter_offgrid_a/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 3.531 |
+| `action_abs_p90` | 9.764 |
+| `action_std` | 5.961 |
+| `n_episodes` | 20 |
+| `stress_max` | 34.42 |
+| `stress_mean` | 2.845 |
+| `stress_p50` | 0 |
+| `stress_p90` | 7.199 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `free_regrasp` — success 1 vs committed floor 0.9 → **PASS**

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+# `presenter_offgrid_b` — handover_place_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `handover_place_partners@v1` (task `handover_place@v1`) · **Stratum.** scripted · **Split.** public · **Role.** presenter
+**Identity.** `partner_id` `7c555ca368e36f86` · parameter digest `493a16d55d28b33593482461eecb2dbeb77d5ff505ba4d3c6cb28dbdecfbb77d` · `weights_uri` `member://handover_presenter/493a16d55d28b33593482461eecb2dbeb77d5ff505ba4d3c6cb28dbdecfbb77d`
+## What this partner does
+The frozen scripted presenter (ADR-026; Gate-0 rig): it hands the part into the shared workspace and lets go, binding the ego only through the presented initial condition. The grasp-pose error distribution (`grasp_pose_bias_deg`/`grasp_pose_sigma_deg`) is the coupling channel; lateral offset is success-side by construction and timing skew rides the takt budget.
+## Construction provenance
+Built from registry class `handover_presenter` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `grasp_pose_bias_deg` | [15, 45] | 18.3353 |
+| `grasp_pose_sigma_deg` | [8, 12] | 11.9689 |
+| `lateral_offset_x_m` | [0, 0] | 0.0 |
+| `lateral_offset_y_m` | [0, 0] | 0.0 |
+| `lateral_sigma_m` | [0.0001, 0.0003] | 0.0003 |
+| `timing_skew_bias_s` | [0.1, 0.3] | 0.1793 |
+| `timing_skew_sigma_s` | [0.05, 0.15] | 0.1134 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/handover_place_partners-v1/presenter_offgrid_b/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 3.986 |
+| `action_abs_p90` | 11.08 |
+| `action_std` | 6.803 |
+| `n_episodes` | 20 |
+| `stress_max` | 56.95 |
+| `stress_mean` | 7.259 |
+| `stress_p50` | 0 |
+| `stress_p90` | 29.01 |
+| `success_rate` | 0.95 |
+**Competence floor.** floor probe `free_regrasp` — success 1 vs committed floor 0.9 → **PASS**

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+# Partner sets
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+Versioned per-task partner sets (ADR-009 §Decision as amended 2026-07-05; ADR-027 §Versioning). Every member subclasses `PartnerBase` behind the `_FORBIDDEN_ATTRS` black-box shield (ADR-018/I3); cards publish identity hashes, construction boxes, and behavioural fingerprints — never private parameter values.
+| set | task | members (public/private) | floor |
+| --- | --- | --- | --- |
+| [`cocarry_partners@v1`](cocarry_partners-v1/index.md) | `cocarry@v1` | 11 (8/3) | 0.75 |
+| [`cocarry_partners@v2`](cocarry_partners-v2/index.md) | `cocarry@v1` | 12 (9/3) | 0.75 |
+| [`handover_place_partners@v1`](handover_place_partners-v1/index.md) | `handover_place@v1` | 6 (5/1) | 0.9 |
+| [`stage1_pickplace_as_partners@v1`](stage1_pickplace_as_partners-v1/index.md) | `stage1_pickplace_as@v1` | 3 (3/0) | 0.9 |

cards/stage1_pickplace_as_partners-v1/heuristic_center.md ADDED Viewed

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+# `heuristic_center` — stage1_pickplace_as_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `stage1_pickplace_as_partners@v1` (task `stage1_pickplace_as@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner
+**Identity.** `partner_id` `aa4a6fec38c0646e` · parameter digest `963dcf2d674c69aae31b4417422e62465c21bd7ac99ab592706ecf8771e9c88e` · `weights_uri` `member://scripted_heuristic/963dcf2d674c69aae31b4417422e62465c21bd7ac99ab592706ecf8771e9c88e`
+## What this partner does
+The greedy planar-reach heuristic (ADR-009 §Consequences): a deterministic policy that steps toward its configured planar target (`target_x`/`target_y`) with a unit-clipped velocity command. On the Stage-1 pick-place control the ego solves the task alone; this member documents (does not manufacture) that partner-insensitivity.
+## Construction provenance
+Built from registry class `scripted_heuristic` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `target_x` | [-0.01, 0.01] | -0.006 |
+| `target_y` | [-0.01, 0.01] | -0.0065 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/stage1_pickplace_as_partners-v1/heuristic_center/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.000965 |
+| `action_abs_p90` | 0.006012 |
+| `action_std` | 0.002264 |
+| `n_episodes` | 20 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.9 → **PASS**

cards/stage1_pickplace_as_partners-v1/heuristic_quadrant_neg.md ADDED Viewed

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+# `heuristic_quadrant_neg` — stage1_pickplace_as_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `stage1_pickplace_as_partners@v1` (task `stage1_pickplace_as@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner
+**Identity.** `partner_id` `afe5ae26b3665608` · parameter digest `302d09670ddb8785079e65e76d31da8680de1c0dc882aa34d7c5bdb53a1626f7` · `weights_uri` `member://scripted_heuristic/302d09670ddb8785079e65e76d31da8680de1c0dc882aa34d7c5bdb53a1626f7`
+## What this partner does
+The greedy planar-reach heuristic (ADR-009 §Consequences): a deterministic policy that steps toward its configured planar target (`target_x`/`target_y`) with a unit-clipped velocity command. On the Stage-1 pick-place control the ego solves the task alone; this member documents (does not manufacture) that partner-insensitivity.
+## Construction provenance
+Built from registry class `scripted_heuristic` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `target_x` | [-0.06, -0.03] | -0.0347 |
+| `target_y` | [-0.06, -0.03] | -0.0429 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/stage1_pickplace_as_partners-v1/heuristic_quadrant_neg/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.005987 |
+| `action_abs_p90` | 0.03479 |
+| `action_std` | 0.01413 |
+| `n_episodes` | 20 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.9 → **PASS**

cards/stage1_pickplace_as_partners-v1/heuristic_quadrant_pos.md ADDED Viewed

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+# `heuristic_quadrant_pos` — stage1_pickplace_as_partners@v1
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+**Set.** `stage1_pickplace_as_partners@v1` (task `stage1_pickplace_as@v1`) · **Stratum.** scripted · **Split.** public · **Role.** partner
+**Identity.** `partner_id` `28afd322265b96ab` · parameter digest `951fdfbeb2caab78b14f33f316cb75d2af92abe3d132114d3421b02ba6488b62` · `weights_uri` `member://scripted_heuristic/951fdfbeb2caab78b14f33f316cb75d2af92abe3d132114d3421b02ba6488b62`
+## What this partner does
+The greedy planar-reach heuristic (ADR-009 §Consequences): a deterministic policy that steps toward its configured planar target (`target_x`/`target_y`) with a unit-clipped velocity command. On the Stage-1 pick-place control the ego solves the task alone; this member documents (does not manufacture) that partner-insensitivity.
+## Construction provenance
+Built from registry class `scripted_heuristic` (`PartnerSpec(seed=0, checkpoint_step=None)`). Public member: the exact values below were drawn from the committed box under the maintainer-held derivation seed and are committed next to their digest.
+| parameter | committed box | value |
+| --- | --- | --- |
+| `target_x` | [0.03, 0.06] | 0.0455 |
+| `target_y` | [0.03, 0.06] | 0.0412 |
+## Behavioural fingerprint
+Committed probe suite: seeds [7000, 7001, 7002, 7003] x 5 episodes against the task's reference ego (archive: `spikes/results/partner-fingerprints/stage1_pickplace_as_partners-v1/heuristic_quadrant_pos/`, an ADR-028 v3 bundle). Summary statistics of the member's action distribution and the dyad's stress channel — enough to tell members apart without policy access (ADR-018/I3).
+| statistic | value |
+| --- | --- |
+| `action_abs_mean` | 0.00669 |
+| `action_abs_p90` | 0.04145 |
+| `action_std` | 0.01571 |
+| `n_episodes` | 20 |
+| `success_rate` | 1 |
+**Competence floor.** floor probe `fingerprint` — success 1 vs committed floor 0.9 → **PASS**

cards/stage1_pickplace_as_partners-v1/index.md ADDED Viewed

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+# Partner set `stage1_pickplace_as_partners@v1`
+<!-- Generated by scripts/render_partner_cards.py from chamber.partners.sets + the fingerprint archive — do not edit by hand. -->
+Task: `stage1_pickplace_as@v1` · members: 3 (3 public / 0 private) · committed floor: 0.9 on the `fingerprint` probe.
+Minimal scripted set for the Tier-1 CONTROL (ADR-027 §Tier ladder; CB-04 demotion). Reference ego for the probe/floor: the REF-SCRIPT scripted oracle (ADR-011 as amended). The control's point is that success is partner-insensitive — the floor documents that fact per member.
+The public/private split is the deterministic ADR-009 rule — members ordered by `partner_id` hash, the first ⌈0.7·N⌉ public — recomputable from this roster; no hand-picking. Private members' behavioural parameters are withheld (published hashes, withheld parameters): they derive from the maintainer-held seed and verify against the committed digests. Set changes bump the version (ADR-027 §Versioning); frozen learned members join as a version bump.
+| member | split | role | `partner_id` | floor success | fingerprint success |
+| --- | --- | --- | --- | --- | --- |
+| [`heuristic_center`](heuristic_center.md) | public | partner | `aa4a6fec38c0646e` | 1 | 1 |
+| [`heuristic_quadrant_pos`](heuristic_quadrant_pos.md) | public | partner | `28afd322265b96ab` | 1 | 1 |
+| [`heuristic_quadrant_neg`](heuristic_quadrant_neg.md) | public | partner | `afe5ae26b3665608` | 1 | 1 |
+Fingerprint archive: `spikes/results/partner-fingerprints/stage1_pickplace_as_partners-v1/` (per-member ADR-028 v3 bundles + `fingerprints.json` + `SHA256SUMS.txt`).

checkpoints/e9040cbc3c3b2456_step150000.pt ADDED Viewed

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+size 2922167

checkpoints/e9040cbc3c3b2456_step150000.pt.json ADDED Viewed

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+{
+  "git_sha": "6bf8e5319a8890ca24d7b530cf9d9552f32db97a",
+  "pyproject_hash": "821d0c69ba0cc9e0e278f01bd90e7941e82e1f56f7b5d89040595b717846a274",
+  "run_id": "e9040cbc3c3b2456",
+  "seed": 4,
+  "sha256": "3107b1bde5201d0350221f527839cda7ee6ac5698c20df6f80eb80453fb5ae18",
+  "step": 150000
+}

croissant.jsonld ADDED Viewed

	@@ -0,0 +1,157 @@

+{
+  "@context": {
+    "@language": "en",
+    "@vocab": "https://schema.org/",
+    "citeAs": "cr:citeAs",
+    "column": "cr:column",
+    "conformsTo": "dct:conformsTo",
+    "cr": "http://mlcommons.org/croissant/",
+    "rai": "http://mlcommons.org/croissant/RAI/",
+    "data": {
+      "@id": "cr:data",
+      "@type": "@json"
+    },
+    "dataType": {
+      "@id": "cr:dataType",
+      "@type": "@vocab"
+    },
+    "dct": "http://purl.org/dc/terms/",
+    "examples": {
+      "@id": "cr:examples",
+      "@type": "@json"
+    },
+    "equivalentProperty": "cr:equivalentProperty",
+    "extract": "cr:extract",
+    "field": "cr:field",
+    "fileProperty": "cr:fileProperty",
+    "fileObject": "cr:fileObject",
+    "fileSet": "cr:fileSet",
+    "format": "cr:format",
+    "includes": "cr:includes",
+    "isLiveDataset": "cr:isLiveDataset",
+    "jsonPath": "cr:jsonPath",
+    "key": "cr:key",
+    "md5": "cr:md5",
+    "parentField": "cr:parentField",
+    "path": "cr:path",
+    "recordSet": "cr:recordSet",
+    "references": "cr:references",
+    "regex": "cr:regex",
+    "repeated": "cr:repeated",
+    "replace": "cr:replace",
+    "samplingRate": "cr:samplingRate",
+    "sc": "https://schema.org/",
+    "separator": "cr:separator",
+    "source": "cr:source",
+    "subField": "cr:subField",
+    "transform": "cr:transform"
+  },
+  "@type": "sc:Dataset",
+  "name": "chamber-bench-partner-sets",
+  "description": "The versioned CHAMBER-Bench v1.0 partner zoo: machine-readable rosters for every committed partner-set version (public members with committed parameter literals; private members with identity hashes only), rendered partner cards, per-set behavioural fingerprints, and the public learned members' checkpoint files. Partners are the frozen black-box teammates a benchmarked method is evaluated against.",
+  "conformsTo": "http://mlcommons.org/croissant/1.0",
+  "license": "https://www.apache.org/licenses/LICENSE-2.0",
+  "url": "https://huggingface.co/datasets/fsafaei/chamber-bench-partner-sets",
+  "version": "1.0.0",
+  "citeAs": "Safaei, F. (2026). CONCERTO and CHAMBER: Contact-rich Coordination with Opaque, Heterogeneous Teammates. Zenodo. https://doi.org/10.5281/zenodo.20128469",
+  "creator": {
+    "@type": "sc:Person",
+    "name": "Farhad Safaei",
+    "email": "cooperative.physical.ai@gmail.com"
+  },
+  "datePublished": "2026-07-06",
+  "rai:dataCollection": "Every record was generated in simulation (ManiSkill v3 / SAPIEN, plus one CPU diagnostic task) by the evaluation tooling committed in the fsafaei/concerto repository, under preregistered specifications locked with signed git tags before the runs. Each result bundle records the producing command, git commit, dependency-lock hash, platform fingerprint, and seed schedule, and passes the chamber-eval verify integrity and recomputation checks.",
+  "rai:dataCollectionType": "Machine Generated",
+  "rai:personalSensitiveInformation": "None. The data contains no people, no personal data, no customer or workplace data; every byte is simulator or tooling output.",
+  "rai:dataLimitations": "Simulation only (no real-robot data); exactly two agents per task; only the embodiments named in the task cards; measured heterogeneity effects on co-carry are null so far, so the data supports ad-hoc-teamwork competence claims, not heterogeneity-robustness claims; no vision-based partners in v1.0.",
+  "rai:dataBiases": "The zoo covers scripted impedance controllers, scripted presenters, and frozen jointly-trained policies on the listed tasks only; it does not represent human teammates or vision-based policies. Private members' parameters are deliberately withheld (published as SHA-256 identity hashes) so an unseen evaluation split stays meaningful.",
+  "rai:dataUseCases": "Instantiating the exact public partners behind a leaderboard row; evaluating new methods against the public split; auditing partner identity via hashes and fingerprints.",
+  "distribution": [
+    {
+      "@type": "cr:FileObject",
+      "@id": "repo",
+      "name": "repo",
+      "description": "The Hugging Face dataset repository hosting this artifact.",
+      "contentUrl": "https://huggingface.co/datasets/fsafaei/chamber-bench-partner-sets",
+      "encodingFormat": "git+https",
+      "sha256": "main"
+    },
+    {
+      "@type": "cr:FileObject",
+      "@id": "manifest.json",
+      "name": "manifest.json",
+      "description": "File list with byte sizes and SHA-256 digests for every payload file.",
+      "containedIn": {
+        "@id": "repo"
+      },
+      "contentUrl": "manifest.json",
+      "encodingFormat": "application/json"
+    },
+    {
+      "@type": "cr:FileObject",
+      "@id": "SHA256SUMS.txt",
+      "name": "SHA256SUMS.txt",
+      "description": "sha256sum -c checkable digest list covering every file including manifest.json.",
+      "containedIn": {
+        "@id": "repo"
+      },
+      "contentUrl": "SHA256SUMS.txt",
+      "encodingFormat": "text/plain"
+    },
+    {
+      "@type": "cr:FileObject",
+      "@id": "README.md",
+      "name": "README.md",
+      "description": "The human-readable dataset card (plain language, licence, provenance, intended use, limitations).",
+      "containedIn": {
+        "@id": "repo"
+      },
+      "contentUrl": "README.md",
+      "encodingFormat": "text/markdown"
+    },
+    {
+      "@type": "cr:FileSet",
+      "@id": "rosters",
+      "name": "rosters",
+      "description": "One JSON roster per partner-set version (set metadata, member construction boxes, split labels, identity hashes; public parameter literals).",
+      "containedIn": {
+        "@id": "repo"
+      },
+      "encodingFormat": "application/json",
+      "includes": "sets/*.json"
+    },
+    {
+      "@type": "cr:FileSet",
+      "@id": "cards",
+      "name": "cards",
+      "description": "Rendered per-member and per-set partner cards.",
+      "containedIn": {
+        "@id": "repo"
+      },
+      "encodingFormat": "text/markdown",
+      "includes": "cards/**/*.md"
+    },
+    {
+      "@type": "cr:FileSet",
+      "@id": "fingerprints",
+      "name": "fingerprints",
+      "description": "Per-set behavioural fingerprint summaries rendered from the committed probe archives.",
+      "containedIn": {
+        "@id": "repo"
+      },
+      "encodingFormat": "application/json",
+      "includes": "fingerprints/*.json"
+    },
+    {
+      "@type": "cr:FileSet",
+      "@id": "checkpoints",
+      "name": "checkpoints",
+      "description": "Public learned members' PyTorch checkpoints with JSON sidecars.",
+      "containedIn": {
+        "@id": "repo"
+      },
+      "encodingFormat": "application/octet-stream",
+      "includes": "checkpoints/*"
+    }
+  ]
+}

fingerprints/cocarry_partners-v1.json ADDED Viewed

	@@ -0,0 +1,250 @@

+{
+  "dirty": false,
+  "floor": 0.75,
+  "floor_probe": "fingerprint",
+  "git_sha": "d11e52249d69ab04bde87c57ffda23828ba58ab9",
+  "members": {
+    "imp_blend_a": {
+      "fingerprint": {
+        "action_abs_mean": 0.36831,
+        "action_abs_p90": 1.0,
+        "action_std": 0.470502,
+        "n_episodes": 20.0,
+        "stress_max": 114.6593,
+        "stress_mean": 94.4101,
+        "stress_p50": 101.6474,
+        "stress_p90": 111.8282,
+        "success_rate": 1.0
+      },
+      "floor_pass": true,
+      "floor_probe": "fingerprint",
+      "floor_success": 1.0,
+      "params_sha256": "66ec45f3bc06acf1ca79f5f3804aff757920c3db8c02a0cdd59675cad241c1bf",
+      "partner_id": "b6975bc340b25133",
+      "registry_class": "cocarry_impedance",
+      "role": "partner_arm",
+      "split": "private"
+    },
+    "imp_blend_b": {
+      "fingerprint": {
+        "action_abs_mean": 0.377412,
+        "action_abs_p90": 1.0,
+        "action_std": 0.485992,
+        "n_episodes": 20.0,
+        "stress_max": 112.2057,
+        "stress_mean": 87.124,
+        "stress_p50": 88.219,
+        "stress_p90": 101.7867,
+        "success_rate": 1.0
+      },
+      "floor_pass": true,
+      "floor_probe": "fingerprint",
+      "floor_success": 1.0,
+      "params_sha256": "b1a0fa0aa3ee2d96af0073a70ed040fa6d90efffaeb3a956396cd5704912ddb2",
+      "partner_id": "6883ea1ebef2f0d3",
+      "registry_class": "cocarry_impedance",
+      "role": "partner_arm",
+      "split": "public"
+    },
+    "imp_blend_c": {
+      "fingerprint": {
+        "action_abs_mean": 0.361579,
+        "action_abs_p90": 1.0,
+        "action_std": 0.479698,
+        "n_episodes": 20.0,
+        "stress_max": 100.7178,
+        "stress_mean": 80.836,
+        "stress_p50": 81.855,
+        "stress_p90": 96.1321,
+        "success_rate": 1.0
+      },
+      "floor_pass": true,
+      "floor_probe": "fingerprint",
+      "floor_success": 1.0,
+      "params_sha256": "cc417fc13ef686b0d64ab6feca899ccf5f19c57f0ff874ae4a57dbaf7f6fdcf0",
+      "partner_id": "1d575685149b7174",
+      "registry_class": "cocarry_impedance",
+      "role": "partner_arm",
+      "split": "public"
+    },
+    "imp_damp_high": {
+      "fingerprint": {
+        "action_abs_mean": 0.32343,
+        "action_abs_p90": 1.0,
+        "action_std": 0.432923,
+        "n_episodes": 20.0,
+        "stress_max": 105.0343,
+        "stress_mean": 83.6343,
+        "stress_p50": 84.5712,
+        "stress_p90": 98.37,
+        "success_rate": 1.0
+      },
+      "floor_pass": true,
+      "floor_probe": "fingerprint",
+      "floor_success": 1.0,
+      "params_sha256": "509cec1613d436a03d9538961436f9c9653f74bff53abb625207043f8c4c9ad4",
+      "partner_id": "597b7116f63e09d8",
+      "registry_class": "cocarry_impedance",
+      "role": "partner_arm",
+      "split": "public"
+    },
+    "imp_damp_low": {
+      "fingerprint": {
+        "action_abs_mean": 0.329109,
+        "action_abs_p90": 1.0,
+        "action_std": 0.436056,
+        "n_episodes": 20.0,
+        "stress_max": 105.1015,
+        "stress_mean": 87.8216,
+        "stress_p50": 93.4153,
+        "stress_p90": 100.835,
+        "success_rate": 1.0
+      },
+      "floor_pass": true,
+      "floor_probe": "fingerprint",
+      "floor_success": 1.0,
+      "params_sha256": "25c318a230e97df9c9168d0e8f98dc9c3227e4cdada4cb45dff7d09f31f64633",
+      "partner_id": "5ac85b19c0f522ee",
+      "registry_class": "cocarry_impedance",
+      "role": "partner_arm",
+      "split": "public"
+    },
+    "imp_fast": {
+      "fingerprint": {
+        "action_abs_mean": 0.390571,
+        "action_abs_p90": 1.0,
+        "action_std": 0.489926,
+        "n_episodes": 20.0,
+        "stress_max": 125.0965,
+        "stress_mean": 104.0632,
+        "stress_p50": 117.1669,
+        "stress_p90": 121.3601,
+        "success_rate": 1.0
+      },
+      "floor_pass": true,
+      "floor_probe": "fingerprint",
+      "floor_success": 1.0,
+      "params_sha256": "0fe7eb258c8ed441e0f3e302684d2aa0f0de539cb921bc931401b3846ae0fed8",
+      "partner_id": "bfa69a8aa3979220",
+      "registry_class": "cocarry_impedance",
+      "role": "partner_arm",
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+      "partner_id": "2551311d47ba8e57",
+      "registry_class": "cocarry_impedance",
+      "role": "partner_arm",
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+  },
+  "probe_episodes_per_seed": 5,
+  "probe_seeds": [
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+  ],
+  "schema_version": 1,
+  "set_id": "cocarry_partners",
+  "set_version": 1,
+  "task": "cocarry@v1"
+}

fingerprints/cocarry_partners-v2.json ADDED Viewed

	@@ -0,0 +1,271 @@

+{
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+      "partner_id": "2551311d47ba8e57",
+      "registry_class": "cocarry_impedance",
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+      "partner_id": "5118f7828d8ac7b8",
+      "registry_class": "frozen_cocarry_joint",
+      "role": "partner_arm",
+      "split": "public"
+    }
+  },
+  "probe_episodes_per_seed": 5,
+  "probe_seeds": [
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+    7001,
+    7002,
+    7003
+  ],
+  "schema_version": 1,
+  "set_id": "cocarry_partners",
+  "set_version": 2,
+  "task": "cocarry@v1"
+}

fingerprints/handover_place_partners-v1.json ADDED Viewed

	@@ -0,0 +1,145 @@

+{
+  "dirty": false,
+  "floor": 0.9,
+  "floor_probe": "free_regrasp",
+  "git_sha": "d11e52249d69ab04bde87c57ffda23828ba58ab9",
+  "members": {
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+      "floor_probe": "free_regrasp",
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+      "params_sha256": "d4f8fcf58e750c8dcd223ff4e78cb08da29f758d8b2fb03b9886789711915123",
+      "partner_id": "dd261cfdde60ca43",
+      "registry_class": "handover_presenter",
+      "role": "presenter",
+      "split": "private"
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+    "presenter_mismatch_15": {
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+      "floor_probe": "free_regrasp",
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+      "params_sha256": "21dad7ccf5614c6990953b65b0287d41deeb18709d40647555c210a65f75850e",
+      "partner_id": "18820ddf850874f9",
+      "registry_class": "handover_presenter",
+      "role": "presenter",
+      "split": "public"
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+    "presenter_mismatch_30": {
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+      "partner_id": "7ec27e8d0c2efd6e",
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+      "partner_id": "046bc72af285fbd3",
+      "registry_class": "handover_presenter",
+      "role": "presenter",
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+      "partner_id": "7bb5130fbc52906e",
+      "registry_class": "handover_presenter",
+      "role": "presenter",
+      "split": "public"
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+    "presenter_offgrid_b": {
+      "fingerprint": {
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+        "action_abs_p90": 11.077609,
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+        "success_rate": 0.95
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+      "floor_pass": true,
+      "floor_probe": "free_regrasp",
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+      "params_sha256": "493a16d55d28b33593482461eecb2dbeb77d5ff505ba4d3c6cb28dbdecfbb77d",
+      "partner_id": "7c555ca368e36f86",
+      "registry_class": "handover_presenter",
+      "role": "presenter",
+      "split": "public"
+    }
+  },
+  "probe_episodes_per_seed": 5,
+  "probe_seeds": [
+    7000,
+    7001,
+    7002,
+    7003
+  ],
+  "schema_version": 1,
+  "set_id": "handover_place_partners",
+  "set_version": 1,
+  "task": "handover_place@v1"
+}

fingerprints/stage1_pickplace_as_partners-v1.json ADDED Viewed

	@@ -0,0 +1,70 @@

+{
+  "dirty": false,
+  "floor": 0.9,
+  "floor_probe": "fingerprint",
+  "git_sha": "d11e52249d69ab04bde87c57ffda23828ba58ab9",
+  "members": {
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+      "floor_probe": "fingerprint",
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+}

sets/cocarry_partners-v2.json ADDED Viewed

	@@ -0,0 +1,520 @@

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+      "checkpoint_step": 150000,
+      "checkpoint_uri": "local://artifacts/e9040cbc3c3b2456_step150000.pt",
+      "member_name": "joint_s4",
+      "param_box": {},
+      "params": {},
+      "params_sha256": "44136fa355b3678a1146ad16f7e8649e94fb4fc21fe77e8310c060f61caaff8a",
+      "provenance": "trained jointly with the ego actor of pair checkpoint sha256 3107b1bde5201d0350221f527839cda7ee6ac5698c20df6f80eb80453fb5ae18 (training seed 4, selected step 150000 under the ADR-027 checkpoint-selection rule)",
+      "registry_class": "frozen_cocarry_joint",
+      "role": "partner_arm",
+      "seed": 4,
+      "split": "public"
+    }
+  ],
+  "notes": "v1's scripted stratum plus the campaign's jointly-trained partner-side stratum (ADR-027 \u00a7Versioning; ADR-011 \u00a7Decision as amended). Learned members carry real checkpoint URIs + committed payload SHA-256 custody; cross-play competence with the scripted reference ego is measured by the fingerprint/floor probe, not assumed \u2014 and it BIT: of the five preregistered jointly-trained candidates, four failed the 0.75 floor (0.000/0.000/0.050/0.650) and were dropped; joint_s4 (0.800) is the one admitted learned member. Evidence: spikes/results/partner-fingerprints/cocarry_partners-v2-dropped-candidates/. Split re-derived over the surviving 12; every v1 label is reproduced.",
+  "probe_episodes_per_seed": 5,
+  "probe_seeds": [
+    7000,
+    7001,
+    7002,
+    7003
+  ],
+  "set_id": "cocarry_partners",
+  "task_id": "cocarry",
+  "task_version": 1,
+  "version": 2
+}

sets/handover_place_partners-v1.json ADDED Viewed

	@@ -0,0 +1,358 @@

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+        "lateral_offset_x_m": "0.0",
+        "lateral_offset_y_m": "0.0",
+        "lateral_sigma_m": "0.0003",
+        "timing_skew_bias_s": "0.1793",
+        "timing_skew_sigma_s": "0.1134"
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+      "params_sha256": "493a16d55d28b33593482461eecb2dbeb77d5ff505ba4d3c6cb28dbdecfbb77d",
+      "provenance": "",
+      "registry_class": "handover_presenter",
+      "role": "presenter",
+      "seed": 0,
+      "split": "public"
+    }
+  ],
+  "notes": "Scripted stratum of the handover_place@1 set (ADR-009 as amended). Fingerprint probe at the canonical coupling-valid anchor cell (clearance 0.2, fast basis, takt 1.5 s \u2014 the CB-04 A2 committed env numbers); competence floor at the Gate-0 free-re-grasp endpoint, where budget pressure is off and only a wall scores low. The anchor-cell success spread across members (matched ~1.0 down to bias-45 ~0.25) is the measured coupling, not incompetence.",
+  "probe_episodes_per_seed": 5,
+  "probe_seeds": [
+    7000,
+    7001,
+    7002,
+    7003
+  ],
+  "set_id": "handover_place_partners",
+  "task_id": "handover_place",
+  "task_version": 1,
+  "version": 1
+}