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    "The semantic reference bounds are a broad zero-violation envelope, not a proven canonical robot workspace.",
    "The gripper inversion restores an intended boolean open predicate, not continuous finger width.",
    "Observed state and target action need not agree on the same row because their roles, timing, and thresholds differ.",
    "No policy-score degradation, image corruption, pose corruption, or safe silent checkpoint migration is claimed.",
    "The pinned VLABench source is corroborating semantic evidence; the dataset card does not identify the exact generator checkout."
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