We fine-tuned the same policy twice on SynGrasp-1B, once on the release as published and once with the 583 episodes the release itself flags as failed grasps removed, and the edited run scored 33.6% against 28.3%, a gain of 5.3 points over 1,200 rollouts.
A same-size random cut scored 28.6%, so the gain is from which episodes were removed, not from removing episodes.
pick_up_toast gains most, and pick_up_bracelet and pick_up_helicopter do not move at all. The pooled lift clears zero, most single tasks at 120 rollouts do not, and the chart says so.
Measured on 17,540 episodes read from 12 of the 1,256 shards, every episode carries its own outcome flag in meta/episodes, and 583 of them, 3.3%, are flagged episode.success false and ship anyway. Nothing in the trajectory tells them apart, a flagged episode runs 82.97 frames on average against 82.63 for a kept one and the commanded gripper range is exactly 0.08 on all 17,540, so the flag is the only thing separating a grasp from a miss. The failures concentrate, pick_up_propeller loses 17 of 63 and pick_up_tennis_racket 14 of 53 against a corpus rate of 3.3% while 92 of the 294 object classes never fail once, and the per-class pattern repeats on two disjoint halves of the shard sample at a correlation of 0.59. The cut takes every flagged episode and no object class, so 46 of the 63 propeller episodes stay, because the thin and open frame shapes are the ones a grasping policy most needs and what it does not need is 17 recordings of the gripper closing on nothing.
| Removed | episodes | frames |
|---|---|---|
| flagged episode.success false, in the 7 object classes that fail above 20% | 95 | 8,063 |
| flagged episode.success false, in the other 287 object classes | 478 | 39,966 |
| flagged and stopped at subtask 1 of 6, ten consecutive runs in one shard | 10 | 340 |
| Removed | 583 | 48,369 |
| Kept | 16,957 | 1,401,220 |
Measured on the release. Each clip is the window its episode occupies inside the packed front camera mp4, read from the from_timestamp column of meta/episodes, and every caption carries that episode's own outcome flag and the last subtask index its action stream reaches out of six.