{
  "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
    }
  }
}