# Claim boundaries

## Established

- At the pinned revisions, every published action row falls outside LeRobot's
  default `eef` Gym Box metadata.
- The same rows all fit a broad source-derived representational envelope:
  unbounded XYZ, float32 `[-pi, pi]` Euler values, and binary gripper.
- The pinned adapter documents and implements absolute robot-frame Cartesian
  pose targets through Euler-to-quaternion conversion and inverse kinematics.
- State/action gripper bits have opposing documented conventions, with strong
  complement statistics and a pinned source predicate explicitly marked as a
  bug.
- The v2 sidecar is a deterministic, lossless inversion of the legacy binary
  state predicate and does not mutate actions or original data.

## Not established

- No measured policy-score or training-quality effect.
- The audit does not establish image, pose, trajectory, reward, or task-label
  corruption or their absence.
- No claim that Gym automatically clips these actions; the pinned adapter passes
  targets into IK, so the interface mismatch is not by itself proof that
  trajectories are unusable.
- No claim that the negative-control envelope is a correct robot workspace or
  recommended final action space.
- No proof that the pinned public VLABench revision generated the dataset. It is
  a semantic reference because the dataset card omits exact generator provenance.
- No safe silent migration for existing checkpoints. Corrected state semantics
  must be opt-in and aligned across training and evaluation.
- No expectation that corrected observed state equals same-row target action;
  command/observation timing and 0.035 versus 0.03 thresholds remain distinct.

## Safe public wording

> In the pinned VLABench unified mirror, LeRobot's default `eef` Gym Box rejects
> all 3,114,872 action rows. The pinned wrapper nevertheless consumes those
> absolute-pose targets directly through IK. This establishes an interface-contract
> mismatch; it does not establish trajectory corruption. Separately, the published
> state stores a legacy closed-bit while actions use an open-bit; the repair is an
> explicit, versioned, non-mutating sidecar.