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"expected_action_id": "return_to_home", "selected_action_id": "return_to_home", "final_status": "executed", "correct": true, "valid": true }, { "domain": "drone", "arm": "qwen3.5:0.8b_recorded", "case_id": "drone_v2_027", "supported": true, "expected_action_id": "return_to_home", "selected_action_id": "continue_mission", "final_status": "executed", "correct": false, "valid": true }, { "domain": "drone", "arm": "kvrm_hybrid_no_learned_model", "case_id": "drone_v2_027", "supported": true, "expected_action_id": "return_to_home", "selected_action_id": "return_to_home", "final_status": "executed", "correct": true, "valid": true }, { "domain": "drone", "arm": "constraint_scan_shared_checks", "case_id": "drone_v2_027", "supported": true, "expected_action_id": "return_to_home", "selected_action_id": "return_to_home", "final_status": "executed", "correct": true, "valid": true }, { "domain": "drone", "arm": "gemma4:e2b_plus_validation", "case_id": "drone_v2_027", "supported": true, 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