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  "source_url": "https://arxiv.org/abs/physics/0505066",
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  "notes": [
    "Intervals include endpoints; failure means any sampled outside visit for enter<t<=leave.",
    "Wide-passage frequency is occupancy at t=1.5, not conditioning on successful survival.",
    "Cost uncertainty is normal-approximation 95% CI over independent trials; proportions use Wilson intervals.",
    "Each trial shares plant increments across controllers. Planner RNG is independent and never sees future plant increments.",
    "The sampled first-increment estimator and convolution reference use the same time discretization.",
    "Between-step crossings are not counted; the time-step sweep documents discretization sensitivity.",
    "Guided trajectories determine only proposal densities; executed controls are weighted first-increment means."
  ]
}