| { |
| "checkpoint": "/mnt/storage/openduck/outputs-v2/stage25/final", |
| "samples": 90, |
| "rmse_normalized": 0.8554556994099709, |
| "zero_baseline_rmse_normalized": 0.919140869883362, |
| "omitted_behaviors": [ |
| "recovery", |
| "recovery_roller" |
| ], |
| "note": "Task-only offline validation omits dedicated recovery buckets; recovery is evaluated in closed-loop MuJoCo.", |
| "per_behavior": { |
| "stand": { |
| "samples": 10, |
| "rmse_normalized": 0.24385906588030556, |
| "zero_baseline_rmse_normalized": 0.3640341016404326 |
| }, |
| "walking": { |
| "samples": 10, |
| "rmse_normalized": 0.4910737846813405, |
| "zero_baseline_rmse_normalized": 0.4431173574421542 |
| }, |
| "sitstand": { |
| "samples": 10, |
| "rmse_normalized": 0.9608649322011251, |
| "zero_baseline_rmse_normalized": 0.8896771247285984 |
| }, |
| "ground_pick": { |
| "samples": 10, |
| "rmse_normalized": 0.13068257688003773, |
| "zero_baseline_rmse_normalized": 0.8466632442741323 |
| }, |
| "kick_left": { |
| "samples": 10, |
| "rmse_normalized": 0.22309199308487884, |
| "zero_baseline_rmse_normalized": 0.21911552749812585 |
| }, |
| "kick_right": { |
| "samples": 10, |
| "rmse_normalized": 1.9734949861197915, |
| "zero_baseline_rmse_normalized": 0.9568364825500372 |
| }, |
| "roller": { |
| "samples": 10, |
| "rmse_normalized": 0.6331354384663949, |
| "zero_baseline_rmse_normalized": 0.6308232484956733 |
| }, |
| "roller_crouch": { |
| "samples": 10, |
| "rmse_normalized": 0.2050697831929071, |
| "zero_baseline_rmse_normalized": 1.748523891169655 |
| }, |
| "roulade": { |
| "samples": 10, |
| "rmse_normalized": 0.9787305175534854, |
| "zero_baseline_rmse_normalized": 1.1607412095520928 |
| } |
| } |
| } |
