diff --git a/experiments/hc-running-002/20260907T230523559972Z.log b/experiments/hc-running-002/20260907T230523559972Z.log
new file mode 100644
index 0000000000000000000000000000000000000000..d4d81c738851a9dfb926092e008ea3ad7de8bce2
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+++ b/experiments/hc-running-002/20260907T230523559972Z.log
@@ -0,0 +1,90 @@
+2026-09-07 23:05:23,559Z INFO command={'command': 'run', 'model': 'halfcheetah', 'run_dir': WindowsPath('runs/hc-running-002'), 'stop_after': 'extract'}
+2026-09-07 23:05:23,599Z INFO Preparing halfcheetah revision=b4ce04da6f246f06ae4c4258b8ab39624e6600b4
+2026-09-07 23:05:23,661Z INFO Prepared halfcheetah sha256=8231919095d5a35a2b799e865e968feca535d5af3f40a4b092947c70a976b7e1 actor=Sequential(
+  (0): Linear(in_features=17, out_features=256, bias=True)
+  (1): ReLU()
+  (2): Linear(in_features=256, out_features=256, bias=True)
+  (3): ReLU()
+)
+2026-09-07 23:05:23,756Z INFO prepared manifest={'schema': 1, 'created_utc': '2026-09-07T23:05:23.662755+00:00', 'model_key': 'halfcheetah', 'config': {'torch_threads': 1, 'rollout_workers': 4, 'max_steps': 1000, 'warmup': 100, 'diagnostic_episodes': 16, 'fit_episodes': 64, 'validation_episodes': 10, 'confirmation_episodes': 30, 'replication_episodes': 30, 'seed_offset': 100000, 'fit_min_speed_fraction': 0.5}, 'seed_splits': {'diagnostic': [100000, 100001, 100002, 100003, 100004, 100005, 100006, 100007, 100008, 100009, 100010, 100011, 100012, 100013, 100014, 100015], 'fit': [101000, 101001, 101002, 101003, 101004, 101005, 101006, 101007, 101008, 101009, 101010, 101011, 101012, 101013, 101014, 101015, 101016, 101017, 101018, 101019, 101020, 101021, 101022, 101023, 101024, 101025, 101026, 101027, 101028, 101029, 101030, 101031, 101032, 101033, 101034, 101035, 101036, 101037, 101038, 101039, 101040, 101041, 101042, 101043, 101044, 101045, 101046, 101047, 101048, 101049, 101050, 101051, 101052, 101053, 101054, 101055, 101056, 101057, 101058, 101059, 101060, 101061, 101062, 101063], 'validation': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'confirmation': [120000, 120001, 120002, 120003, 120004, 120005, 120006, 120007, 120008, 120009, 120010, 120011, 120012, 120013, 120014, 120015, 120016, 120017, 120018, 120019, 120020, 120021, 120022, 120023, 120024, 120025, 120026, 120027, 120028, 120029], 'replication': [130000, 130001, 130002, 130003, 130004, 130005, 130006, 130007, 130008, 130009, 130010, 130011, 130012, 130013, 130014, 130015, 130016, 130017, 130018, 130019, 130020, 130021, 130022, 130023, 130024, 130025, 130026, 130027, 130028, 130029]}, 'provenance': {'env_id': 'HalfCheetah-v5', 'algorithm': 'TQC', 'repo_id': 'farama-minari/HalfCheetah-v5-TQC-medium', 'revision': 'b4ce04da6f246f06ae4c4258b8ab39624e6600b4', 'filename': 'halfcheetah-v5-TQC-medium.zip', 'sha256': '8231919095d5a35a2b799e865e968feca535d5af3f40a4b092947c70a976b7e1', 'model_key': 'halfcheetah', 'checkpoint_path': 'C:\\Users\\Happy\\Documents\\projects\\rl-locomotion-steering-vectors\\artifacts\\base\\halfcheetah\\halfcheetah-v5-TQC-medium.zip', 'layer': 'actor.latent_pi.1', 'hidden_dimension': 256, 'observation_shape': [17], 'action_shape': [6], 'parameter_sha256': '91fc57f64cc0bd3b2f35a89f11c1936a2c1f55ff30cd5b116b9fa1fea757acca'}, 'decisions': [], 'software': {'numpy': '1.26.4', 'torch': '2.5.1+cpu', 'torchvision': '0.20.1+cpu', 'stable-baselines3': '2.4.1', 'sb3-contrib': '2.4.0', 'gymnasium': '1.0.0', 'mujoco': '3.1.5', 'baukit': '0.0.1'}}
+2026-09-07 23:05:32,122Z INFO episode phase=diagnostic condition=baseline seed=100002 metrics={'x_velocity': 12.885057177175376, 'y_velocity': 0.0, 'planar_speed': 12.910061197736942, 'height': 0.6245737092044419, 'yaw_rate': 0.0, 'effort': 0.6006161651015282, 'inversion': 0.023333333333333334, 'bad_contact': 0.015555555555555555, 'reward': 12.524687478538313, 'saturation': 0.05333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 579.827572972892, 'return': 11993.44685372089, 'seed': 100002, 'onset_hash': 'db47a297d804d76b750f6fab9c4c558b0f503ddf23a838b95180540db75e4d53'}
+2026-09-07 23:05:32,138Z INFO episode phase=diagnostic condition=baseline seed=100003 metrics={'x_velocity': 14.516336410649226, 'y_velocity': 0.0, 'planar_speed': 14.516336410649226, 'height': 0.6214784330600138, 'yaw_rate': 0.0, 'effort': 0.6424755349093013, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.130851089710267, 'saturation': 0.06703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 653.2351384792152, 'return': 13367.692718552466, 'seed': 100003, 'onset_hash': '86824b15d6d778f74605e47558b1f109aa70fa07742189fd5ecbbf62517fe0c4'}
+2026-09-07 23:05:32,154Z INFO episode phase=diagnostic condition=baseline seed=100000 metrics={'x_velocity': 14.246305487670465, 'y_velocity': 0.0, 'planar_speed': 14.246305487670465, 'height': 0.6162968035819679, 'yaw_rate': 0.0, 'effort': 0.6432147767974271, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.86037662164168, 'saturation': 0.07, 'length': 1000.0, 'failure': 0.0, 'distance': 641.083746945171, 'return': 13207.327345418245, 'seed': 100000, 'onset_hash': 'd9dfb616506e76b895e18085fb39bf14848f53a3145a78f750cb0eb639c4b27e'}
+2026-09-07 23:05:32,167Z INFO episode phase=diagnostic condition=baseline seed=100001 metrics={'x_velocity': 14.284696553543451, 'y_velocity': 0.0, 'planar_speed': 14.284696553543451, 'height': 0.628052890635789, 'yaw_rate': 0.0, 'effort': 0.6451814354625013, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 13.897587692361979, 'saturation': 0.07, 'length': 1000.0, 'failure': 0.0, 'distance': 642.8113449094553, 'return': 13052.430210397088, 'seed': 100001, 'onset_hash': 'c171aff0abfbc04eac903c6fef5938ddcd32dbad1a96fbc4c607c3a78598f68a'}
+2026-09-07 23:05:33,023Z INFO episode phase=diagnostic condition=baseline seed=100004 metrics={'x_velocity': 9.227363927775562, 'y_velocity': 0.0, 'planar_speed': 9.304632706617799, 'height': 0.48265742969221137, 'yaw_rate': 0.0, 'effort': 0.555881015109933, 'inversion': 0.38666666666666666, 'bad_contact': 0.15777777777777777, 'reward': 8.893835318352387, 'saturation': 0.04907407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 415.23137674990033, 'return': 8696.979860327552, 'seed': 100004, 'onset_hash': 'b3443e2ee2938256086d05c099352eb8de25b9a6eb52c58b0b65c2b73c251ad9'}
+2026-09-07 23:05:33,039Z INFO episode phase=diagnostic condition=baseline seed=100006 metrics={'x_velocity': 14.404058808167825, 'y_velocity': 0.0, 'planar_speed': 14.404058808167825, 'height': 0.6256112250024511, 'yaw_rate': 0.0, 'effort': 0.6424094834923744, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.018613118251215, 'saturation': 0.058703703703703695, 'length': 1000.0, 'failure': 0.0, 'distance': 648.1826463675521, 'return': 13317.250743827055, 'seed': 100006, 'onset_hash': '167b756441b2081ccc494781daed1984c26cb71bcc2bea6803e041157e04848b'}
+2026-09-07 23:05:33,056Z INFO episode phase=diagnostic condition=baseline seed=100005 metrics={'x_velocity': 10.374097103185425, 'y_velocity': 0.0, 'planar_speed': 10.604062501029636, 'height': 0.6253787435171794, 'yaw_rate': 0.0, 'effort': 0.5567617739323113, 'inversion': 0.022222222222222223, 'bad_contact': 0.013333333333333334, 'reward': 10.040040038446886, 'saturation': 0.05277777777777777, 'length': 1000.0, 'failure': 0.0, 'distance': 466.8343696433442, 'return': 9796.942758581163, 'seed': 100005, 'onset_hash': 'ecc9b2be001aa87ca5490ccbc4b7a548c132ff9c53e7c714270bff2f8ed97e45'}
+2026-09-07 23:05:33,072Z INFO episode phase=diagnostic condition=baseline seed=100007 metrics={'x_velocity': 13.96563853654414, 'y_velocity': 0.0, 'planar_speed': 13.96563853654414, 'height': 0.6414040493077899, 'yaw_rate': 0.0, 'effort': 0.6412506201449367, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.58088816413763, 'saturation': 0.07574074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 628.4537341444862, 'return': 12892.027900569243, 'seed': 100007, 'onset_hash': '0c7e69627d6fd47061be087484835f535a407171eb1213ed4561ac3c0a7b083e'}
+2026-09-07 23:05:33,920Z INFO episode phase=diagnostic condition=baseline seed=100008 metrics={'x_velocity': 14.63532081853264, 'y_velocity': 0.0, 'planar_speed': 14.63532081853264, 'height': 0.6180862877736423, 'yaw_rate': 0.0, 'effort': 0.6409012169473701, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.250780088864234, 'saturation': 0.06129629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 658.5894368339689, 'return': 13573.578586806754, 'seed': 100008, 'onset_hash': 'ebb10ab4290f99fedaff83128f7558f2553be3c7e52ddf3d30801a44d28c74a9'}
+2026-09-07 23:05:33,937Z INFO episode phase=diagnostic condition=baseline seed=100010 metrics={'x_velocity': 13.655692041875405, 'y_velocity': 0.0, 'planar_speed': 13.655692041875405, 'height': 0.6373233978285998, 'yaw_rate': 0.0, 'effort': 0.6410419050190184, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 13.271066898744783, 'saturation': 0.07222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 614.5061418843933, 'return': 12674.889604618173, 'seed': 100010, 'onset_hash': 'a8babd6995514a3449d18b68d1739c6a7134e915c46ba992ab27499e19374c9a'}
+2026-09-07 23:05:33,957Z INFO episode phase=diagnostic condition=baseline seed=100011 metrics={'x_velocity': 6.871475620387301, 'y_velocity': 0.0, 'planar_speed': 7.100695585272307, 'height': 0.3999604511574051, 'yaw_rate': 0.0, 'effort': 0.4942607153745161, 'inversion': 0.5533333333333333, 'bad_contact': 0.30333333333333334, 'reward': 6.574919191203156, 'saturation': 0.03314814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 309.2164029174286, 'return': 6682.710895230314, 'seed': 100011, 'onset_hash': '4475c76955348d62e408874d1684ed3c58d87bc4fd1647e2609a85bb9f7648de'}
+2026-09-07 23:05:33,970Z INFO episode phase=diagnostic condition=baseline seed=100009 metrics={'x_velocity': 14.489076997127206, 'y_velocity': 0.0, 'planar_speed': 14.489076997127206, 'height': 0.6239140897727256, 'yaw_rate': 0.0, 'effort': 0.6400273860991001, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.10506056574259, 'saturation': 0.06629629629629628, 'length': 1000.0, 'failure': 0.0, 'distance': 652.0084648707243, 'return': 13432.215218047324, 'seed': 100009, 'onset_hash': 'eb8a4f390b22c284358e44abebca1b21d2914c4cc19f8e1432e7e5740cbd9dc9'}
+2026-09-07 23:05:34,823Z INFO episode phase=diagnostic condition=baseline seed=100013 metrics={'x_velocity': 15.265984996763514, 'y_velocity': 0.0, 'planar_speed': 15.265984996763514, 'height': 0.6151995230313334, 'yaw_rate': 0.0, 'effort': 0.6468567450510131, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.877870949567336, 'saturation': 0.06407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 686.9693248543581, 'return': 14136.759147492909, 'seed': 100013, 'onset_hash': 'a0d4f6e397ede9ab77724bebea3a8fdefbf22afd9f677aca7ab16220b0dfc87c'}
+2026-09-07 23:05:34,838Z INFO episode phase=diagnostic condition=baseline seed=100012 metrics={'x_velocity': 14.067150805526776, 'y_velocity': 0.0, 'planar_speed': 14.067150805526776, 'height': 0.6383241773024377, 'yaw_rate': 0.0, 'effort': 0.6379775318337811, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.68436428652916, 'saturation': 0.07203703703703701, 'length': 1000.0, 'failure': 0.0, 'distance': 633.021786248705, 'return': 13017.932856950585, 'seed': 100012, 'onset_hash': 'b233c42a15f71862cb279392ca02a1bf212d9c742c5d624448cc9f464b9e87f6'}
+2026-09-07 23:05:34,852Z INFO episode phase=diagnostic condition=baseline seed=100014 metrics={'x_velocity': 14.469144081542696, 'y_velocity': 0.0, 'planar_speed': 14.469144081542696, 'height': 0.630930224860507, 'yaw_rate': 0.0, 'effort': 0.637920154614581, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.086391988850108, 'saturation': 0.0635185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 651.1114836694214, 'return': 13398.981334545582, 'seed': 100014, 'onset_hash': '6386e5635cec54b712ac7f9cbadc5044305f9ce99e75a2171a35f353319de268'}
+2026-09-07 23:05:34,868Z INFO episode phase=diagnostic condition=baseline seed=100015 metrics={'x_velocity': 14.583029715311593, 'y_velocity': 0.0, 'planar_speed': 14.583029715311593, 'height': 0.6227976435079151, 'yaw_rate': 0.0, 'effort': 0.6421152831448449, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.197760545345213, 'saturation': 0.06537037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 656.2363371890217, 'return': 13525.280625823234, 'seed': 100015, 'onset_hash': '71246db2aa026b2ca31c88c035d89be194915a8018bc6f2f041f294cb38fd91e'}
+2026-09-07 23:05:35,875Z INFO episode phase=fit condition=baseline seed=101002 metrics={'x_velocity': 14.36591692646933, 'y_velocity': 0.0, 'planar_speed': 14.36591692646933, 'height': 0.622744633311535, 'yaw_rate': 0.0, 'effort': 0.6368852006561226, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.983785806237911, 'saturation': 0.06666666666666665, 'length': 1000.0, 'failure': 0.0, 'distance': 646.4662616911199, 'return': 13264.230672906448, 'seed': 101002, 'onset_hash': '9fc947b56d073a2f05c3a9e937b2a5acc38fa79dfcd7fb6ffa3f8edb48c3ef27'}
+2026-09-07 23:05:35,932Z INFO episode phase=fit condition=baseline seed=101000 metrics={'x_velocity': 14.339982407738772, 'y_velocity': 0.0, 'planar_speed': 14.339982407738772, 'height': 0.6272733353680884, 'yaw_rate': 0.0, 'effort': 0.638078737060229, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.957135165356934, 'saturation': 0.06388888888888888, 'length': 1000.0, 'failure': 0.0, 'distance': 645.2992083482447, 'return': 13308.503029842124, 'seed': 101000, 'onset_hash': '85db5b53c04e90bcd8527dcff717d470657c70f8b4ac70d9ba1cb4f5ff8f06b1'}
+2026-09-07 23:05:35,984Z INFO episode phase=fit condition=baseline seed=101003 metrics={'x_velocity': 14.328211376627946, 'y_velocity': 0.0, 'planar_speed': 14.328211376627946, 'height': 0.6286688252799005, 'yaw_rate': 0.0, 'effort': 0.6364010920292801, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 13.946370720718303, 'saturation': 0.07648148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 644.7695119482577, 'return': 13107.084277851138, 'seed': 101003, 'onset_hash': 'ee80cc62e2ab2aef5e8ef6d8868f098d81ce050f2d2890553db6c1f9069d20c8'}
+2026-09-07 23:05:36,034Z INFO episode phase=fit condition=baseline seed=101001 metrics={'x_velocity': 14.957579808302212, 'y_velocity': 0.0, 'planar_speed': 14.957579808302212, 'height': 0.6151381225714007, 'yaw_rate': 0.0, 'effort': 0.6436299647225274, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.57140182945545, 'saturation': 0.058703703703703695, 'length': 1000.0, 'failure': 0.0, 'distance': 673.0910913735996, 'return': 13836.377187813716, 'seed': 101001, 'onset_hash': 'e7b9d38ad69b2aad91e6edeaf6ea0edd9c407a29c1f0066d18607ea773b8b6ab'}
+2026-09-07 23:05:36,800Z INFO episode phase=fit condition=baseline seed=101004 metrics={'x_velocity': 14.011660023566767, 'y_velocity': 0.0, 'planar_speed': 14.011660023566767, 'height': 0.6332268630642142, 'yaw_rate': 0.0, 'effort': 0.6358212616046269, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.63016726677618, 'saturation': 0.07222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 630.5247010605045, 'return': 13018.101906617318, 'seed': 101004, 'onset_hash': 'bc445de11a7a2ea36467a8f19f7ee1b08c09a09946992ad631ad915e8e5c6bf6'}
+2026-09-07 23:05:36,850Z INFO episode phase=fit condition=baseline seed=101006 metrics={'x_velocity': 14.80002710143151, 'y_velocity': 0.0, 'planar_speed': 14.80002710143151, 'height': 0.6195783357905524, 'yaw_rate': 0.0, 'effort': 0.6428894682394134, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.414293420706413, 'saturation': 0.062407407407407404, 'length': 1000.0, 'failure': 0.0, 'distance': 666.0012195644181, 'return': 13451.013029895179, 'seed': 101006, 'onset_hash': 'a721587152e57be1064d8b97bc1f037ca7db68a940d326c42efdc50e59e37a1b'}
+2026-09-07 23:05:36,904Z INFO episode phase=fit condition=baseline seed=101005 metrics={'x_velocity': 14.757028212729008, 'y_velocity': 0.0, 'planar_speed': 14.757028212729008, 'height': 0.6170919189887213, 'yaw_rate': 0.0, 'effort': 0.6435786983701918, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.370880993733383, 'saturation': 0.05962962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 664.0662695728054, 'return': 13636.933475566726, 'seed': 101005, 'onset_hash': 'e5ed413aaaa3b4e0add9f7218c89d59232235f80a916d8ffb6cef3260241d789'}
+2026-09-07 23:05:36,954Z INFO episode phase=fit condition=baseline seed=101007 metrics={'x_velocity': 14.39138269733157, 'y_velocity': 0.0, 'planar_speed': 14.39138269733157, 'height': 0.6191061257394478, 'yaw_rate': 0.0, 'effort': 0.6440707887709141, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.004940224264391, 'saturation': 0.07259259259259258, 'length': 1000.0, 'failure': 0.0, 'distance': 647.6122213799207, 'return': 13339.137655909768, 'seed': 101007, 'onset_hash': '980aaf790b2f98125ba310552674a816bc188d6c363055a8a916754d1d2151ba'}
+2026-09-07 23:05:37,742Z INFO episode phase=fit condition=baseline seed=101009 metrics={'x_velocity': 14.292936461020496, 'y_velocity': 0.0, 'planar_speed': 14.292936461020496, 'height': 0.6269701676105564, 'yaw_rate': 0.0, 'effort': 0.6412922214799457, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.908161128053056, 'saturation': 0.06018518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 643.1821407459224, 'return': 13197.802165940542, 'seed': 101009, 'onset_hash': '2acf83c768bd2ad155dabd69ee2a2070d27bda1494ee35febd6a5cf5a0d9061a'}
+2026-09-07 23:05:37,790Z INFO episode phase=fit condition=baseline seed=101008 metrics={'x_velocity': 14.80006409908444, 'y_velocity': 0.0, 'planar_speed': 14.80006409908444, 'height': 0.6195723257329524, 'yaw_rate': 0.0, 'effort': 0.6379988924993409, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.417264763220583, 'saturation': 0.059259259259259255, 'length': 1000.0, 'failure': 0.0, 'distance': 666.0028844587998, 'return': 13756.331358165204, 'seed': 101008, 'onset_hash': '1240418fe9dec20736d763e4489e2258e50027e95d3fa125abed01115f8ae7bd'}
+2026-09-07 23:05:37,840Z INFO episode phase=fit condition=baseline seed=101011 metrics={'x_velocity': 14.045226444585783, 'y_velocity': 0.0, 'planar_speed': 14.045226444585783, 'height': 0.6241237306223386, 'yaw_rate': 0.0, 'effort': 0.6430939857827292, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.659370053500265, 'saturation': 0.07351851851851851, 'length': 1000.0, 'failure': 0.0, 'distance': 632.0351900063603, 'return': 12973.337002585073, 'seed': 101011, 'onset_hash': '770a8811df9e64873c43514b1b13170520a7f82ec0e0f061828afc500e8a79ab'}
+2026-09-07 23:05:37,890Z INFO episode phase=fit condition=baseline seed=101010 metrics={'x_velocity': 14.689565802336011, 'y_velocity': 0.0, 'planar_speed': 14.689565802336011, 'height': 0.6194826688109385, 'yaw_rate': 0.0, 'effort': 0.6438829625646273, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.303236024817105, 'saturation': 0.06907407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 661.0304611051206, 'return': 13660.144951210785, 'seed': 101010, 'onset_hash': '65a36c29e879b529235d46a22ee70e814749ea862323b6e085df038f594a5578'}
+2026-09-07 23:05:38,683Z INFO episode phase=fit condition=baseline seed=101012 metrics={'x_velocity': 14.648852094635368, 'y_velocity': 0.0, 'planar_speed': 14.648852094635368, 'height': 0.621902557089556, 'yaw_rate': 0.0, 'effort': 0.6448491940233443, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.26194257795645, 'saturation': 0.05814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 659.1983442585915, 'return': 13312.310313234479, 'seed': 101012, 'onset_hash': '3dbda4a1426239c959e8a0f1b3ff60549271101aedb544ed1537249c07a63f2a'}
+2026-09-07 23:05:38,737Z INFO episode phase=fit condition=baseline seed=101013 metrics={'x_velocity': 14.71999267275302, 'y_velocity': 0.0, 'planar_speed': 14.71999267275302, 'height': 0.6242531570163785, 'yaw_rate': 0.0, 'effort': 0.6397026145954927, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.336171104210965, 'saturation': 0.06333333333333332, 'length': 1000.0, 'failure': 0.0, 'distance': 662.3996702738859, 'return': 13677.086208212902, 'seed': 101013, 'onset_hash': '7cf5568c1511b3a21d6b86173393d5dd2aeea49ff72cbf06db9e1f09f76c2f76'}
+2026-09-07 23:05:38,788Z INFO episode phase=fit condition=baseline seed=101014 metrics={'x_velocity': 14.784831557101828, 'y_velocity': 0.0, 'planar_speed': 14.784831557101828, 'height': 0.627976575499472, 'yaw_rate': 0.0, 'effort': 0.6368582904338836, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.40271658296733, 'saturation': 0.06074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 665.3174200695823, 'return': 13702.800492177339, 'seed': 101014, 'onset_hash': '10d0abbb71154512a2c6d19d26a8d0cbd20dc0492bdecd76481deea3bd6912d6'}
+2026-09-07 23:05:38,844Z INFO episode phase=fit condition=baseline seed=101015 metrics={'x_velocity': 14.328998380450514, 'y_velocity': 0.0, 'planar_speed': 14.328998380450514, 'height': 0.6319295004462123, 'yaw_rate': 0.0, 'effort': 0.6353082860343986, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.94781340922393, 'saturation': 0.06777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 644.8049271202732, 'return': 13299.291051688917, 'seed': 101015, 'onset_hash': '6bf5672642c32291be0c99cc45a7e0b7c72694bb49d19bd474d4edb594c05993'}
+2026-09-07 23:05:39,590Z INFO episode phase=fit condition=baseline seed=101017 metrics={'x_velocity': 14.170192755061871, 'y_velocity': 0.0, 'planar_speed': 14.170192755061871, 'height': 0.6341220758911229, 'yaw_rate': 0.0, 'effort': 0.6453407140904003, 'inversion': 0.005555555555555556, 'bad_contact': 0.0, 'reward': 13.782988326428818, 'saturation': 0.08055555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 637.6586739777842, 'return': 13043.98013877424, 'seed': 101017, 'onset_hash': 'e67ecec4172ef0a37c3ef382cf52d5b6452a4547d001d24b77810f811166b364'}
+2026-09-07 23:05:39,641Z INFO episode phase=fit condition=baseline seed=101018 metrics={'x_velocity': 14.782237609994793, 'y_velocity': 0.0, 'planar_speed': 14.782237609994793, 'height': 0.6238291983226165, 'yaw_rate': 0.0, 'effort': 0.6361016577813361, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.400576614855778, 'saturation': 0.058888888888888886, 'length': 1000.0, 'failure': 0.0, 'distance': 665.2006924497657, 'return': 13688.481947948654, 'seed': 101018, 'onset_hash': '69f22a51ae1398050d55abf88310c133092a0d9323f64e7cdee5686462623c29'}
+2026-09-07 23:05:39,689Z INFO episode phase=fit condition=baseline seed=101016 metrics={'x_velocity': 14.514144129447446, 'y_velocity': 0.0, 'planar_speed': 14.514144129447446, 'height': 0.6237738048461158, 'yaw_rate': 0.0, 'effort': 0.637815174460411, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.131455024810938, 'saturation': 0.06092592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 653.1364858251351, 'return': 13345.133626111845, 'seed': 101016, 'onset_hash': '400e8220891fe2242efb13d1fdd542c38e40597d664693c0e0b19577b2ef9d88'}
+2026-09-07 23:05:39,743Z INFO episode phase=fit condition=baseline seed=101019 metrics={'x_velocity': 14.737835610081978, 'y_velocity': 0.0, 'planar_speed': 14.737835610081978, 'height': 0.6207311039748286, 'yaw_rate': 0.0, 'effort': 0.6476621650324927, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.349238310704855, 'saturation': 0.06333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 663.202602453689, 'return': 13623.288247702028, 'seed': 101019, 'onset_hash': 'f34cc7ddede0c4564892707de3c87acef29a2f254df26c0fcd485d676c005dfa'}
+2026-09-07 23:05:40,516Z INFO episode phase=fit condition=baseline seed=101020 metrics={'x_velocity': 14.169811525824585, 'y_velocity': 0.0, 'planar_speed': 14.169811525824585, 'height': 0.6254187433727383, 'yaw_rate': 0.0, 'effort': 0.6426326167749034, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.784231955809316, 'saturation': 0.07111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 637.6415186621064, 'return': 13065.893307803533, 'seed': 101020, 'onset_hash': '1cbde9e593b04f7c46e936eb4defde616a997ff58bf0dec4b125e68dd097a741'}
+2026-09-07 23:05:40,565Z INFO episode phase=fit condition=baseline seed=101021 metrics={'x_velocity': 14.946362668040747, 'y_velocity': 0.0, 'planar_speed': 14.946362668040747, 'height': 0.6202223961145407, 'yaw_rate': 0.0, 'effort': 0.6396381100681093, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.562579802225056, 'saturation': 0.06685185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 672.5863200618337, 'return': 13850.053337717996, 'seed': 101021, 'onset_hash': 'b43a390ef70f119629f0ca42327ae2ea32fd2a63663adf0880e8759e2097b25a'}
+2026-09-07 23:05:40,615Z INFO episode phase=fit condition=baseline seed=101022 metrics={'x_velocity': 14.41054176993153, 'y_velocity': 0.0, 'planar_speed': 14.41054176993153, 'height': 0.6236682326485974, 'yaw_rate': 0.0, 'effort': 0.6474109195007218, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.02209521801255, 'saturation': 0.07092592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 648.4743796469189, 'return': 13315.24350489011, 'seed': 101022, 'onset_hash': '280ee5a3c93aad4ffb3158598b788bc68cc43b411cbba2c6063b314b0996e492'}
+2026-09-07 23:05:40,670Z INFO episode phase=fit condition=baseline seed=101023 metrics={'x_velocity': 13.777172306065456, 'y_velocity': 0.0, 'planar_speed': 13.777172306065456, 'height': 0.6377177827755274, 'yaw_rate': 0.0, 'effort': 0.635918040358358, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.39562148196634, 'saturation': 0.07407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 619.9727537729456, 'return': 12646.23947111447, 'seed': 101023, 'onset_hash': '72f424dbad2ef294292b50dcb9a93e227a76d446a701d0e41018e050a5223929'}
+2026-09-07 23:05:41,451Z INFO episode phase=fit condition=baseline seed=101024 metrics={'x_velocity': 14.441268775739305, 'y_velocity': 0.0, 'planar_speed': 14.441268775739305, 'height': 0.6301336390074277, 'yaw_rate': 0.0, 'effort': 0.6410654512710041, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.05662950475153, 'saturation': 0.06925925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 649.8570949082688, 'return': 13344.193039046633, 'seed': 101024, 'onset_hash': 'c7acc1634c46b66a818cf5a244e770c73321a5c2c7b6bf958f6733134e9e6ac3'}
+2026-09-07 23:05:41,502Z INFO episode phase=fit condition=baseline seed=101026 metrics={'x_velocity': 14.962615229075316, 'y_velocity': 0.0, 'planar_speed': 14.962615229075316, 'height': 0.6184383023510073, 'yaw_rate': 0.0, 'effort': 0.6402328835924467, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.578475498820506, 'saturation': 0.06055555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 673.3176853083893, 'return': 13851.311834371361, 'seed': 101026, 'onset_hash': '1012a38897b9ecf907b40e3d6528b2149765b055d0883d8777eefea67aaf678b'}
+2026-09-07 23:05:41,552Z INFO episode phase=fit condition=baseline seed=101025 metrics={'x_velocity': 14.761830789074978, 'y_velocity': 0.0, 'planar_speed': 14.761830789074978, 'height': 0.6196327672855181, 'yaw_rate': 0.0, 'effort': 0.6502058134062423, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.37170730101964, 'saturation': 0.06185185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 664.282385508374, 'return': 13633.928430204753, 'seed': 101025, 'onset_hash': '68302e7b7b63f724daa41f1ca92391802b0924c4dccbc31ce7ecf41a99469a0e'}
+2026-09-07 23:05:41,602Z INFO episode phase=fit condition=baseline seed=101027 metrics={'x_velocity': 14.819000512049053, 'y_velocity': 0.0, 'planar_speed': 14.819000512049053, 'height': 0.619989440639193, 'yaw_rate': 0.0, 'effort': 0.6378606459663974, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.436284124750681, 'saturation': 0.06555555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 666.8550230422074, 'return': 13709.824586766299, 'seed': 101027, 'onset_hash': 'a8a9e1a521a4f9819c3c833a0dc2727e45158788da7154cf60591393446c041f'}
+2026-09-07 23:05:42,402Z INFO episode phase=fit condition=baseline seed=101028 metrics={'x_velocity': 4.7845050105764395, 'y_velocity': 0.0, 'planar_speed': 4.91809522599266, 'height': 0.6008877576434217, 'yaw_rate': 0.0, 'effort': 0.44373694710847406, 'inversion': 0.016666666666666666, 'bad_contact': 0.09666666666666666, 'reward': 4.518262842499276, 'saturation': 0.023518518518518515, 'length': 1000.0, 'failure': 0.0, 'distance': 215.30272547593978, 'return': 4803.073705584477, 'seed': 101028, 'onset_hash': '1e0cd91a4330ea4a726ededa939bb13b8360a4f2ec0565ea818042c6d2ffdd32'}
+2026-09-07 23:05:42,452Z INFO episode phase=fit condition=baseline seed=101030 metrics={'x_velocity': 14.190315199843718, 'y_velocity': 0.0, 'planar_speed': 14.190315199843718, 'height': 0.6406920199875495, 'yaw_rate': 0.0, 'effort': 0.6496207059588697, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.8005427757154, 'saturation': 0.07555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 638.5641839929674, 'return': 13106.252531131715, 'seed': 101030, 'onset_hash': '71aa3a60a9689342d99b0b6a1f4db4f29a80f252c0aaf3745db3ddc1672340a5'}
+2026-09-07 23:05:42,506Z INFO episode phase=fit condition=baseline seed=101031 metrics={'x_velocity': 14.553205974904408, 'y_velocity': 0.0, 'planar_speed': 14.553205974904408, 'height': 0.6215182367821552, 'yaw_rate': 0.0, 'effort': 0.6395611405041483, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.169469290860208, 'saturation': 0.06166666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 654.8942688706984, 'return': 13425.167734240316, 'seed': 101031, 'onset_hash': '33f4b0c658dc817c25be34b86d9e21f99cdf84214b953eedf67dca010707367b'}
+2026-09-07 23:05:42,556Z INFO episode phase=fit condition=baseline seed=101029 metrics={'x_velocity': 14.062939394314244, 'y_velocity': 0.0, 'planar_speed': 14.062939394314244, 'height': 0.6368084334642826, 'yaw_rate': 0.0, 'effort': 0.640120559963915, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.67886705760077, 'saturation': 0.06666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 632.8322727441409, 'return': 12987.999191529641, 'seed': 101029, 'onset_hash': '32fe40419ee5efaa47ae894dff01967c0f4c002cee47cf0472cc2a5af01aebb9'}
+2026-09-07 23:05:43,320Z INFO episode phase=fit condition=baseline seed=101032 metrics={'x_velocity': 14.615584878908008, 'y_velocity': 0.0, 'planar_speed': 14.615584878908008, 'height': 0.6199777368874633, 'yaw_rate': 0.0, 'effort': 0.6422856547766261, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.230213485717517, 'saturation': 0.06425925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 657.7013195508604, 'return': 13482.59057864655, 'seed': 101032, 'onset_hash': '92282e08819b4f226334d28488f87552034f654d2db5763aad913732285fba5e'}
+2026-09-07 23:05:43,375Z INFO episode phase=fit condition=baseline seed=101033 metrics={'x_velocity': 14.75776204048559, 'y_velocity': 0.0, 'planar_speed': 14.75776204048559, 'height': 0.6239230778049023, 'yaw_rate': 0.0, 'effort': 0.6438484497699473, 'inversion': 0.012222222222222223, 'bad_contact': 0.0, 'reward': 14.371452970852108, 'saturation': 0.06722222222222221, 'length': 1000.0, 'failure': 0.0, 'distance': 664.0992918218516, 'return': 13660.440271684896, 'seed': 101033, 'onset_hash': 'cf88c8d8127fd21c9a3f4a2a8ae663610232b45ce04418462d4f7ee2990eb7a5'}
+2026-09-07 23:05:43,427Z INFO episode phase=fit condition=baseline seed=101034 metrics={'x_velocity': 14.391091160203125, 'y_velocity': 0.0, 'planar_speed': 14.391091160203125, 'height': 0.6187207994551502, 'yaw_rate': 0.0, 'effort': 0.6376150664024883, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.00852212111, 'saturation': 0.06425925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 647.5991022091407, 'return': 13109.554650165512, 'seed': 101034, 'onset_hash': '442a11a67b218361497b571e90b23bf5f062fad90e6d969d38f320dfa884ef68'}
+2026-09-07 23:05:43,479Z INFO episode phase=fit condition=baseline seed=101035 metrics={'x_velocity': 14.354762167466967, 'y_velocity': 0.0, 'planar_speed': 14.354762167466967, 'height': 0.6218431975500675, 'yaw_rate': 0.0, 'effort': 0.629891941315598, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.976827002829932, 'saturation': 0.06796296296296295, 'length': 1000.0, 'failure': 0.0, 'distance': 645.9642975360135, 'return': 13341.825377308587, 'seed': 101035, 'onset_hash': '45929da2b8ff0dafef7470b45412b5fa70aae2e215a00aca4fb62adab129ca4d'}
+2026-09-07 23:05:44,262Z INFO episode phase=fit condition=baseline seed=101036 metrics={'x_velocity': 14.304564268415563, 'y_velocity': 0.0, 'planar_speed': 14.304564268415563, 'height': 0.6209434927258247, 'yaw_rate': 0.0, 'effort': 0.6347868252793948, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.923692173082356, 'saturation': 0.07185185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 643.7053920787004, 'return': 13214.342718421289, 'seed': 101036, 'onset_hash': '0d24ed1faaa662d68db78aebab6bfa4d64717477f5d81bc13b8be5ad56b0f5dc'}
+2026-09-07 23:05:44,311Z INFO episode phase=fit condition=baseline seed=101037 metrics={'x_velocity': 14.529426859567375, 'y_velocity': 0.0, 'planar_speed': 14.529426859567375, 'height': 0.6179583712447432, 'yaw_rate': 0.0, 'effort': 0.6469467176993688, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.14125882816627, 'saturation': 0.0687037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 653.8242086805319, 'return': 13430.285431021039, 'seed': 101037, 'onset_hash': '494b31c508cdaf29fdddf20d6830aaf2b30b73c155bb9336b955e2ff9a35fd5c'}
+2026-09-07 23:05:44,367Z INFO episode phase=fit condition=baseline seed=101038 metrics={'x_velocity': 14.495396697467417, 'y_velocity': 0.0, 'planar_speed': 14.495396697467417, 'height': 0.6198392601651793, 'yaw_rate': 0.0, 'effort': 0.6466242695351442, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.10742213627946, 'saturation': 0.0635185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 652.2928513860338, 'return': 13453.261228905798, 'seed': 101038, 'onset_hash': 'cbdcb03e845cc95261811089ce486281ba3f449c837ced3c06f7594096997f1d'}
+2026-09-07 23:05:44,421Z INFO episode phase=fit condition=baseline seed=101039 metrics={'x_velocity': 10.950146512054104, 'y_velocity': 0.0, 'planar_speed': 10.950228696592525, 'height': 0.5133003350854034, 'yaw_rate': 0.0, 'effort': 0.7434529246389866, 'inversion': 0.27555555555555555, 'bad_contact': 0.21444444444444444, 'reward': 10.504074756883282, 'saturation': 0.32666666666666666, 'length': 1000.0, 'failure': 0.0, 'distance': 492.75659304243476, 'return': 10169.917008535791, 'seed': 101039, 'onset_hash': '9c3f0f46911e48f0734efff491727591e9da2996f51e0e5b3d60af73abca7ae9'}
+2026-09-07 23:05:45,193Z INFO episode phase=fit condition=baseline seed=101040 metrics={'x_velocity': 13.981951847361065, 'y_velocity': 0.0, 'planar_speed': 13.981951847361065, 'height': 0.6271011212816713, 'yaw_rate': 0.0, 'effort': 0.647415631926722, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.593502468460008, 'saturation': 0.07092592592592593, 'length': 1000.0, 'failure': 0.0, 'distance': 629.187833131248, 'return': 12899.614437461883, 'seed': 101040, 'onset_hash': '630effba5e2bacabef8c3043b90d29a7a2498d4ad37171682ca700c28f048df3'}
+2026-09-07 23:05:45,244Z INFO episode phase=fit condition=baseline seed=101041 metrics={'x_velocity': 14.885725048772274, 'y_velocity': 0.0, 'planar_speed': 14.885725048772274, 'height': 0.621014224714516, 'yaw_rate': 0.0, 'effort': 0.6489259326292409, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.496369489045719, 'saturation': 0.06314814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 669.8576271947524, 'return': 13694.31789852352, 'seed': 101041, 'onset_hash': '850529371462221c70883690c9119f25d3a94f93734ba205d555f602bee10068'}
+2026-09-07 23:05:45,294Z INFO episode phase=fit condition=baseline seed=101042 metrics={'x_velocity': 13.834448890005898, 'y_velocity': 0.0, 'planar_speed': 13.834448890005898, 'height': 0.6315249238793452, 'yaw_rate': 0.0, 'effort': 0.6311174048152235, 'inversion': 0.043333333333333335, 'bad_contact': 0.0011111111111111111, 'reward': 13.455778446908148, 'saturation': 0.06851851851851852, 'length': 1000.0, 'failure': 0.0, 'distance': 622.5502000502655, 'return': 12825.565244682888, 'seed': 101042, 'onset_hash': 'a8867c29a52c8eae9a554811a8be0630f3399b74917313c06cbb09e5f68918cd'}
+2026-09-07 23:05:45,348Z INFO episode phase=fit condition=baseline seed=101043 metrics={'x_velocity': 14.38043944828828, 'y_velocity': 0.0, 'planar_speed': 14.38043944828828, 'height': 0.6345683783323264, 'yaw_rate': 0.0, 'effort': 0.6425462241636383, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.994911713584795, 'saturation': 0.07444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 647.1197751729727, 'return': 13395.56668192845, 'seed': 101043, 'onset_hash': '0f34eceff8a3bb574b5dfa502ad6b117040a67fdf3a213ed350677c7935e34e3'}
+2026-09-07 23:05:46,156Z INFO episode phase=fit condition=baseline seed=101044 metrics={'x_velocity': 14.073099660775371, 'y_velocity': 0.0, 'planar_speed': 14.073099660775371, 'height': 0.6455187864490991, 'yaw_rate': 0.0, 'effort': 0.6489960644476943, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.683702021686212, 'saturation': 0.07870370370370369, 'length': 1000.0, 'failure': 0.0, 'distance': 633.2894847348917, 'return': 12958.054676073247, 'seed': 101044, 'onset_hash': 'b305f464e7c105912630f6d07a5b735bb4a93abbe0c9aec3127430fa77aa6544'}
+2026-09-07 23:05:46,205Z INFO episode phase=fit condition=baseline seed=101046 metrics={'x_velocity': 14.516059016543425, 'y_velocity': 0.0, 'planar_speed': 14.516059016543425, 'height': 0.6282896252618911, 'yaw_rate': 0.0, 'effort': 0.6385513349705272, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.132928215024668, 'saturation': 0.07055555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 653.2226557444542, 'return': 13449.562646708706, 'seed': 101046, 'onset_hash': '2f2cbcb49c2078feb7a3191754fb95cfb1c7e66e2c037e749ef8f013ae1cdc67'}
+2026-09-07 23:05:46,259Z INFO episode phase=fit condition=baseline seed=101045 metrics={'x_velocity': 13.797726509183898, 'y_velocity': 0.0, 'planar_speed': 13.797726509183898, 'height': 0.649136549789066, 'yaw_rate': 0.0, 'effort': 0.6450665672951275, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.41068656870748, 'saturation': 0.07462962962962962, 'length': 1000.0, 'failure': 0.0, 'distance': 620.8976929132755, 'return': 12809.292736534644, 'seed': 101045, 'onset_hash': '8ca31a27ec3b61909f825048dfa6cb347cf9670087aa902bb4863c6e4546b31b'}
+2026-09-07 23:05:46,311Z INFO episode phase=fit condition=baseline seed=101047 metrics={'x_velocity': 14.605718376102715, 'y_velocity': 0.0, 'planar_speed': 14.605718376102715, 'height': 0.6156759051188887, 'yaw_rate': 0.0, 'effort': 0.6468077244857947, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.217633741533758, 'saturation': 0.06444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 657.2573269246222, 'return': 13361.823992470985, 'seed': 101047, 'onset_hash': '61a0a73be2f6135c95b4b662f09e9383c8a82d8cccd3b7aa13c27424fcf6c9d0'}
+2026-09-07 23:05:47,084Z INFO episode phase=fit condition=baseline seed=101048 metrics={'x_velocity': 14.64434538787766, 'y_velocity': 0.0, 'planar_speed': 14.64434538787766, 'height': 0.6256846037971394, 'yaw_rate': 0.0, 'effort': 0.6389665923847092, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.260965432201795, 'saturation': 0.06388888888888888, 'length': 1000.0, 'failure': 0.0, 'distance': 658.9955424544947, 'return': 13455.937179818578, 'seed': 101048, 'onset_hash': '72de8733cbc3a5920082bfae00098aedff3758290a1bd1a89904d7b995665a91'}
+2026-09-07 23:05:47,140Z INFO episode phase=fit condition=baseline seed=101050 metrics={'x_velocity': 14.29508509745055, 'y_velocity': 0.0, 'planar_speed': 14.29508509745055, 'height': 0.6323410384561273, 'yaw_rate': 0.0, 'effort': 0.6434898117515776, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.908991210532058, 'saturation': 0.06944444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 643.2788293852748, 'return': 13178.693099109889, 'seed': 101050, 'onset_hash': '412deffe2dc0efa129bed06289ad55a6ef795a0c588148bc0f2a4ad5e0bf612f'}
+2026-09-07 23:05:47,192Z INFO episode phase=fit condition=baseline seed=101049 metrics={'x_velocity': 14.72161867554118, 'y_velocity': 0.0, 'planar_speed': 14.72161867554118, 'height': 0.6194152083924526, 'yaw_rate': 0.0, 'effort': 0.6424333222707113, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.336158682403925, 'saturation': 0.06314814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 662.4728403993531, 'return': 13565.531616490582, 'seed': 101049, 'onset_hash': '66bf9b15e96c10e4345af67b1a31211e32b05da754fa678014b42e93e2235602'}
+2026-09-07 23:05:47,244Z INFO episode phase=fit condition=baseline seed=101051 metrics={'x_velocity': 14.357108493828152, 'y_velocity': 0.0, 'planar_speed': 14.357108493828152, 'height': 0.622593588035672, 'yaw_rate': 0.0, 'effort': 0.6421701541874144, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.971806401275968, 'saturation': 0.07018518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 646.0698822222669, 'return': 13318.086188276626, 'seed': 101051, 'onset_hash': 'a5370b80d8da43840871ed42002e50f7966f42691a6f04c40fb024c1157898f1'}
+2026-09-07 23:05:48,034Z INFO episode phase=fit condition=baseline seed=101052 metrics={'x_velocity': 14.374485340715283, 'y_velocity': 0.0, 'planar_speed': 14.374485340715283, 'height': 0.6224900774948072, 'yaw_rate': 0.0, 'effort': 0.6431148998108175, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.988616401070525, 'saturation': 0.06907407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 646.8518403321877, 'return': 13139.700410660726, 'seed': 101052, 'onset_hash': '68a79822ab8ccbd19375795bc89fcbd869d1d576849e4a7245a99d97f6fd051e'}
+2026-09-07 23:05:48,097Z INFO episode phase=fit condition=baseline seed=101053 metrics={'x_velocity': 14.315327014285778, 'y_velocity': 0.0, 'planar_speed': 14.315327014285778, 'height': 0.6265894847632896, 'yaw_rate': 0.0, 'effort': 0.6415710000362661, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.930384414287198, 'saturation': 0.06648148148148149, 'length': 1000.0, 'failure': 0.0, 'distance': 644.18971564286, 'return': 13126.983928855141, 'seed': 101053, 'onset_hash': 'ad68ce1234b07134b066eaea8f0206d59052b6ccac4e741d31172e87fc1b1b66'}
+2026-09-07 23:05:48,150Z INFO episode phase=fit condition=baseline seed=101054 metrics={'x_velocity': 14.497667117204381, 'y_velocity': 0.0, 'planar_speed': 14.497667117204381, 'height': 0.6301462556328545, 'yaw_rate': 0.0, 'effort': 0.6388598833150334, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.114351186930582, 'saturation': 0.0624074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 652.3950202741971, 'return': 13395.059401392586, 'seed': 101054, 'onset_hash': '67b075ce314199becc9f1638ef80eb1b60b1584b06460ffeec77720e061d18ec'}
+2026-09-07 23:05:48,211Z INFO episode phase=fit condition=baseline seed=101055 metrics={'x_velocity': 14.582805591314754, 'y_velocity': 0.0, 'planar_speed': 14.582805591314754, 'height': 0.6269139679481252, 'yaw_rate': 0.0, 'effort': 0.6416182834406694, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.197834621227173, 'saturation': 0.07185185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 656.226251609164, 'return': 13506.207783172365, 'seed': 101055, 'onset_hash': '585dbc1b8f58019d6a20b896f4a8a1539c92c1de577449e42251899a3af4a561'}
+2026-09-07 23:05:49,019Z INFO episode phase=fit condition=baseline seed=101056 metrics={'x_velocity': 13.842110575029215, 'y_velocity': 0.0, 'planar_speed': 13.842110575029215, 'height': 0.6274650069428614, 'yaw_rate': 0.0, 'effort': 0.639475235177411, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 13.458425434565175, 'saturation': 0.06518518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 622.8949758763147, 'return': 12833.91552616024, 'seed': 101056, 'onset_hash': 'fc22b7947934ebd61ef856fe63e7ba973c735401f9e3125211184a76c5deda44'}
+2026-09-07 23:05:49,077Z INFO episode phase=fit condition=baseline seed=101057 metrics={'x_velocity': 14.62665499313217, 'y_velocity': 0.0, 'planar_speed': 14.62665499313217, 'height': 0.6223320427875545, 'yaw_rate': 0.0, 'effort': 0.6453820623788569, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.23942575564194, 'saturation': 0.06796296296296298, 'length': 1000.0, 'failure': 0.0, 'distance': 658.1994746909477, 'return': 13597.071800179478, 'seed': 101057, 'onset_hash': 'af95ad2c88fc9aa4921cc616b4a9c7168633fb106916c268acf578e3d6ed096e'}
+2026-09-07 23:05:49,135Z INFO episode phase=fit condition=baseline seed=101058 metrics={'x_velocity': 14.57211328728204, 'y_velocity': 0.0, 'planar_speed': 14.57211328728204, 'height': 0.6223069756045871, 'yaw_rate': 0.0, 'effort': 0.6376616256435712, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.189516311876028, 'saturation': 0.0674074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 655.7450979276919, 'return': 13500.444520197925, 'seed': 101058, 'onset_hash': '65f9ab2fa294a559edcfadfa4b0e71417700ccd46d1a957bcc286bac73e4e732'}
+2026-09-07 23:05:49,191Z INFO episode phase=fit condition=baseline seed=101059 metrics={'x_velocity': 14.05116099089315, 'y_velocity': 0.0, 'planar_speed': 14.05116099089315, 'height': 0.6318066788446403, 'yaw_rate': 0.0, 'effort': 0.6379116543134054, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.668413998901155, 'saturation': 0.07574074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 632.3022445901918, 'return': 12857.51571123411, 'seed': 101059, 'onset_hash': '5f64584e8df8857e923806aca6c55c4ad54679bba29a0a9ac6b25881fcadc60e'}
+2026-09-07 23:05:49,950Z INFO episode phase=fit condition=baseline seed=101060 metrics={'x_velocity': 14.638420195052099, 'y_velocity': 0.0, 'planar_speed': 14.638420195052099, 'height': 0.6231569849398183, 'yaw_rate': 0.0, 'effort': 0.6427864865130848, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.25274830332306, 'saturation': 0.06092592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 658.7289087773445, 'return': 13536.940964740612, 'seed': 101060, 'onset_hash': '34fdc951cce060f4e725b84a93a92d2488606500a7d2ba4b60ca1e5152e5faba'}
+2026-09-07 23:05:50,007Z INFO episode phase=fit condition=baseline seed=101061 metrics={'x_velocity': 14.417195120235275, 'y_velocity': 0.0, 'planar_speed': 14.417195120235275, 'height': 0.6226970192891084, 'yaw_rate': 0.0, 'effort': 0.6439869156810972, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.030802971118018, 'saturation': 0.06981481481481482, 'length': 1000.0, 'failure': 0.0, 'distance': 648.7737804105874, 'return': 13302.40271232553, 'seed': 101061, 'onset_hash': '1668862479208bdf4f5ac1e9a4c6f73a6f3be57ba15c07d548540cc7c036a77c'}
+2026-09-07 23:05:50,055Z INFO episode phase=fit condition=baseline seed=101062 metrics={'x_velocity': 14.856210174629762, 'y_velocity': 0.0, 'planar_speed': 14.856210174629762, 'height': 0.6182017126151665, 'yaw_rate': 0.0, 'effort': 0.6326414872209231, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.476625281840239, 'saturation': 0.05555555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 668.5294578583394, 'return': 13733.48159988461, 'seed': 101062, 'onset_hash': '1181f51d2643cc547f5f3946f6b799e56dd68a9e1f967b413a7f18a2ad28e09d'}
+2026-09-07 23:05:50,104Z INFO episode phase=fit condition=baseline seed=101063 metrics={'x_velocity': 14.935169706990523, 'y_velocity': 0.0, 'planar_speed': 14.935169706990523, 'height': 0.6122603710687918, 'yaw_rate': 0.0, 'effort': 0.6418846748603715, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.550038902186886, 'saturation': 0.06444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 672.0826368145736, 'return': 13800.268713996798, 'seed': 101063, 'onset_hash': 'ab877fa698163ad194e5cc06f03b9655391619002588105012303bf1d2eb6199'}
+2026-09-07 23:05:51,199Z INFO run completed status=fitted
diff --git a/experiments/hc-running-002/20260907T231118617100Z.log b/experiments/hc-running-002/20260907T231118617100Z.log
new file mode 100644
index 0000000000000000000000000000000000000000..51c7fffc288e42d28b5e397afd42ec6496427bf1
--- /dev/null
+++ b/experiments/hc-running-002/20260907T231118617100Z.log
@@ -0,0 +1,841 @@
+2026-09-07 23:11:18,619Z INFO command={'command': 'run', 'model': 'halfcheetah', 'run_dir': WindowsPath('runs/hc-running-002'), 'stop_after': None}
+2026-09-07 23:11:18,666Z INFO Preparing halfcheetah revision=b4ce04da6f246f06ae4c4258b8ab39624e6600b4
+2026-09-07 23:11:18,729Z INFO Prepared halfcheetah sha256=8231919095d5a35a2b799e865e968feca535d5af3f40a4b092947c70a976b7e1 actor=Sequential(
+  (0): Linear(in_features=17, out_features=256, bias=True)
+  (1): ReLU()
+  (2): Linear(in_features=256, out_features=256, bias=True)
+  (3): ReLU()
+)
+2026-09-07 23:11:18,763Z INFO prepared manifest={'schema': 1, 'created_utc': '2026-09-07T23:05:23.662755+00:00', 'model_key': 'halfcheetah', 'config': {'torch_threads': 1, 'rollout_workers': 4, 'max_steps': 1000, 'warmup': 100, 'diagnostic_episodes': 16, 'fit_episodes': 64, 'validation_episodes': 10, 'confirmation_episodes': 30, 'replication_episodes': 30, 'seed_offset': 100000, 'fit_min_speed_fraction': 0.5}, 'seed_splits': {'diagnostic': [100000, 100001, 100002, 100003, 100004, 100005, 100006, 100007, 100008, 100009, 100010, 100011, 100012, 100013, 100014, 100015], 'fit': [101000, 101001, 101002, 101003, 101004, 101005, 101006, 101007, 101008, 101009, 101010, 101011, 101012, 101013, 101014, 101015, 101016, 101017, 101018, 101019, 101020, 101021, 101022, 101023, 101024, 101025, 101026, 101027, 101028, 101029, 101030, 101031, 101032, 101033, 101034, 101035, 101036, 101037, 101038, 101039, 101040, 101041, 101042, 101043, 101044, 101045, 101046, 101047, 101048, 101049, 101050, 101051, 101052, 101053, 101054, 101055, 101056, 101057, 101058, 101059, 101060, 101061, 101062, 101063], 'validation': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'confirmation': [120000, 120001, 120002, 120003, 120004, 120005, 120006, 120007, 120008, 120009, 120010, 120011, 120012, 120013, 120014, 120015, 120016, 120017, 120018, 120019, 120020, 120021, 120022, 120023, 120024, 120025, 120026, 120027, 120028, 120029], 'replication': [130000, 130001, 130002, 130003, 130004, 130005, 130006, 130007, 130008, 130009, 130010, 130011, 130012, 130013, 130014, 130015, 130016, 130017, 130018, 130019, 130020, 130021, 130022, 130023, 130024, 130025, 130026, 130027, 130028, 130029]}, 'provenance': {'env_id': 'HalfCheetah-v5', 'algorithm': 'TQC', 'repo_id': 'farama-minari/HalfCheetah-v5-TQC-medium', 'revision': 'b4ce04da6f246f06ae4c4258b8ab39624e6600b4', 'filename': 'halfcheetah-v5-TQC-medium.zip', 'sha256': '8231919095d5a35a2b799e865e968feca535d5af3f40a4b092947c70a976b7e1', 'model_key': 'halfcheetah', 'checkpoint_path': 'C:\\Users\\Happy\\Documents\\projects\\rl-locomotion-steering-vectors\\artifacts\\base\\halfcheetah\\halfcheetah-v5-TQC-medium.zip', 'layer': 'actor.latent_pi.1', 'hidden_dimension': 256, 'observation_shape': [17], 'action_shape': [6], 'parameter_sha256': '91fc57f64cc0bd3b2f35a89f11c1936a2c1f55ff30cd5b116b9fa1fea757acca'}, 'decisions': [{'time_utc': '2026-09-07T23:05:48.788589+00:00', 'question': 'Can sustained-running activation contrasts yield useful causal speed, effort, or posture control?', 'hypothesis': 'Removing near-stationary recovery windows prevents unwrapped rotation history from dominating the differences. A fitting-only half-median forward-speed floor should retain broad independent running contrasts.', 'source': 'reports/hc-classic-001-diagnostics.md; https://github.com/Farama-Foundation/Gymnasium/blob/v1.0.0/gymnasium/envs/mujoco/half_cheetah_v5.py', 'validation_specification': 'Same eight nonzero strengths, ten paired validation seeds110000-110009, all15vectors, action-bias controls forshortlist;30confirmation120000-120029and30replication130000-130029, no changed usefulness gates. All seedpartitionsfresh relative001.'}, {'time_utc': '2026-09-07T23:10:28.010858+00:00', 'decision': 'Adopt inference-only buffer_size=1 loader override and audited cache migration before calibration.', 'evidence': 'inference-memory-audit.json: unchanged policy hash and byte-for-byte equality of every saved array for diagnostic seed 100000 and fitting seeds 101000 and 101010. Replay array allocation reduced from 308000000 to 1540 bytes.', 'cache_scope': 'Only runtime_sha256 fields in diagnostic/fit condition identities were migrated; all original NPZ files and scientific outcomes are unchanged.'}], 'software': {'numpy': '1.26.4', 'torch': '2.5.1+cpu', 'torchvision': '0.20.1+cpu', 'stable-baselines3': '2.4.1', 'sb3-contrib': '2.4.0', 'gymnasium': '1.0.0', 'mujoco': '3.1.5', 'baukit': '0.0.1'}}
+2026-09-07 23:11:31,301Z INFO episode phase=validation condition=baseline seed=110002 metrics={'x_velocity': 16.78046861478621, 'y_velocity': 0.0, 'planar_speed': 16.78046861478621, 'height': 0.5930866715714529, 'yaw_rate': 0.0, 'effort': 0.6908793583843443, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.365940999080085, 'saturation': 0.008148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 755.1210876653795, 'return': 15493.565150795872, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:11:31,318Z INFO episode phase=validation condition=baseline seed=110003 metrics={'x_velocity': 16.821821329461475, 'y_velocity': 0.0, 'planar_speed': 16.821821329461475, 'height': 0.5927194455701736, 'yaw_rate': 0.0, 'effort': 0.6917458718683984, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.40677380662521, 'saturation': 0.008703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 756.9819598257664, 'return': 15600.8683550377, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:11:31,331Z INFO episode phase=validation condition=baseline seed=110001 metrics={'x_velocity': 16.77816333818069, 'y_velocity': 0.0, 'planar_speed': 16.77816333818069, 'height': 0.5924465821654473, 'yaw_rate': 0.0, 'effort': 0.6921413638194402, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.3628785198228, 'saturation': 0.008333333333333331, 'length': 1000.0, 'failure': 0.0, 'distance': 755.0173502181311, 'return': 15409.453416971366, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:11:31,345Z INFO episode phase=validation condition=baseline seed=110000 metrics={'x_velocity': 16.77578030820656, 'y_velocity': 0.0, 'planar_speed': 16.77578030820656, 'height': 0.593441871196715, 'yaw_rate': 0.0, 'effort': 0.689008847673734, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.362374999297668, 'saturation': 0.009259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 754.9101138692952, 'return': 15460.754541706789, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:11:32,212Z INFO episode phase=validation condition=baseline seed=110005 metrics={'x_velocity': 16.782070243751743, 'y_velocity': 0.0, 'planar_speed': 16.782070243751743, 'height': 0.5923703858459859, 'yaw_rate': 0.0, 'effort': 0.6917534462279744, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.36701817626, 'saturation': 0.010370370370370368, 'length': 1000.0, 'failure': 0.0, 'distance': 755.1931609688286, 'return': 15472.134219935706, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:11:32,228Z INFO episode phase=validation condition=baseline seed=110004 metrics={'x_velocity': 16.80749984545662, 'y_velocity': 0.0, 'planar_speed': 16.80749984545662, 'height': 0.5929189350273805, 'yaw_rate': 0.0, 'effort': 0.6904589064584838, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.39322450164113, 'saturation': 0.009444444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 756.3374930455478, 'return': 15539.06998191303, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:11:32,244Z INFO episode phase=validation condition=baseline seed=110007 metrics={'x_velocity': 16.82172752673792, 'y_velocity': 0.0, 'planar_speed': 16.82172752673792, 'height': 0.5923954222846927, 'yaw_rate': 0.0, 'effort': 0.6917633056971761, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.40666954291563, 'saturation': 0.009629629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 756.9777387032065, 'return': 15612.765582040662, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:11:32,259Z INFO episode phase=validation condition=baseline seed=110006 metrics={'x_velocity': 16.793523690916498, 'y_velocity': 0.0, 'planar_speed': 16.793523690916498, 'height': 0.5926316334306805, 'yaw_rate': 0.0, 'effort': 0.6902668265501658, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.37936359493342, 'saturation': 0.009629629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 755.7085660912425, 'return': 15500.366057672247, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:11:33,189Z INFO episode phase=validation condition=baseline seed=110008 metrics={'x_velocity': 16.80166125022648, 'y_velocity': 0.0, 'planar_speed': 16.80166125022648, 'height': 0.5927970392187176, 'yaw_rate': 0.0, 'effort': 0.689934089548058, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.387700796133394, 'saturation': 0.010925925925925924, 'length': 1000.0, 'failure': 0.0, 'distance': 756.0747562601916, 'return': 15539.888544088295, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:11:33,210Z INFO episode phase=validation condition=baseline seed=110009 metrics={'x_velocity': 16.79206530842521, 'y_velocity': 0.0, 'planar_speed': 16.79206530842521, 'height': 0.5926109323667164, 'yaw_rate': 0.0, 'effort': 0.693084854748514, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.376214395430402, 'saturation': 0.007777777777777777, 'length': 1000.0, 'failure': 0.0, 'distance': 755.6429388791345, 'return': 15520.340601623266, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:11:34,188Z INFO episode phase=validation condition=speed__-0.5000 seed=110002 metrics={'x_velocity': 7.018046222909845, 'y_velocity': 0.0, 'planar_speed': 7.018046222909845, 'height': 0.7143149906895835, 'yaw_rate': 0.0, 'effort': 0.6099073031958606, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 6.6521018411860435, 'saturation': 0.12925925925925924, 'length': 1000.0, 'failure': 0.0, 'distance': 315.81208003094304, 'return': 6751.109908691238, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:11:34,206Z INFO episode phase=validation condition=speed__-0.5000 seed=110003 metrics={'x_velocity': 6.212146499822399, 'y_velocity': 0.0, 'planar_speed': 6.2124743963109115, 'height': 0.7142233458965408, 'yaw_rate': 0.0, 'effort': 0.6158465885288186, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 5.842638546973327, 'saturation': 0.13925925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 279.54659249200796, 'return': 6093.146621351006, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:11:34,221Z INFO episode phase=validation condition=speed__-0.5000 seed=110001 metrics={'x_velocity': 6.715633694460666, 'y_velocity': 0.0, 'planar_speed': 6.715633694460666, 'height': 0.7099365597805044, 'yaw_rate': 0.0, 'effort': 0.6038023862035738, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 6.353352262361853, 'saturation': 0.12444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 302.20351625073, 'return': 6400.879785256515, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:11:34,269Z INFO episode phase=validation condition=speed__-0.5000 seed=110000 metrics={'x_velocity': 3.0234852094423244, 'y_velocity': 0.0, 'planar_speed': 3.030124273954167, 'height': 0.6617523131619226, 'yaw_rate': 0.0, 'effort': 0.24996504470085104, 'inversion': 0.01888888888888889, 'bad_contact': 0.6177777777777778, 'reward': 2.8735061825957366, 'saturation': 0.04907407407407406, 'length': 1000.0, 'failure': 0.0, 'distance': 136.05683442490462, 'return': 3320.7726066750465, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:11:35,101Z INFO episode phase=validation condition=speed__-0.5000 seed=110006 metrics={'x_velocity': 6.4697956036234885, 'y_velocity': 0.0, 'planar_speed': 6.4697956036234885, 'height': 0.7144794490678881, 'yaw_rate': 0.0, 'effort': 0.6048594572684831, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 6.106879929413893, 'saturation': 0.13055555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 291.140802163057, 'return': 6255.130758704677, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:11:35,115Z INFO episode phase=validation condition=speed__-0.5000 seed=110004 metrics={'x_velocity': 6.820840038541116, 'y_velocity': 0.0, 'planar_speed': 6.820840038541116, 'height': 0.7130908032069615, 'yaw_rate': 0.0, 'effort': 0.6112293996330764, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 6.454102399431822, 'saturation': 0.1388888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 306.9378017343502, 'return': 6593.860089924652, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:11:35,130Z INFO episode phase=validation condition=speed__-0.5000 seed=110005 metrics={'x_velocity': 2.583762282321994, 'y_velocity': 0.0, 'planar_speed': 2.654922713940801, 'height': 0.33624988677647843, 'yaw_rate': 0.0, 'effort': 0.30724141617719497, 'inversion': 0.7388888888888889, 'bad_contact': 0.3411111111111111, 'reward': 2.399417432984688, 'saturation': 0.04240740740740741, 'length': 1000.0, 'failure': 0.0, 'distance': 116.26930270448973, 'return': 2901.2935509879244, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:11:35,145Z INFO episode phase=validation condition=speed__-0.5000 seed=110007 metrics={'x_velocity': 7.093919941387668, 'y_velocity': 0.0, 'planar_speed': 7.093919941387668, 'height': 0.7074504679273164, 'yaw_rate': 0.0, 'effort': 0.6101588640041236, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 6.727824623614146, 'saturation': 0.13166666666666665, 'length': 1000.0, 'failure': 0.0, 'distance': 319.2263973624451, 'return': 6901.805154669328, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:11:36,009Z INFO episode phase=validation condition=speed__-0.5000 seed=110008 metrics={'x_velocity': 6.427712444288085, 'y_velocity': 0.0, 'planar_speed': 6.427712444288085, 'height': 0.699947707200103, 'yaw_rate': 0.0, 'effort': 0.6143424922186468, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 6.05910694906369, 'saturation': 0.1459259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 289.24705999296384, 'return': 6244.154081725559, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:11:36,024Z INFO episode phase=validation condition=speed__-0.5000 seed=110009 metrics={'x_velocity': 6.7904774737645495, 'y_velocity': 0.0, 'planar_speed': 6.7904774737645495, 'height': 0.7144135384881308, 'yaw_rate': 0.0, 'effort': 0.6152878803842597, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 6.421304745904867, 'saturation': 0.14166666666666666, 'length': 1000.0, 'failure': 0.0, 'distance': 305.57148631940476, 'return': 6560.921917050284, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:11:36,034Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': -0.5, 'effect': {'behavior': 'speed', 'effect': -10.879896204558728, 'ci95': [-11.96824213822119, -10.035108478288024], 'relative_effect': -0.6477872264326878, 'baseline_mean': 16.795478145614943, 'treated_mean': 5.915581941056213, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 5.915581941056213, 'effort': 0.544264083231489, 'height': 0.668585906219543, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.07577777777777778, 'bad_contact': 0.09633333333333331, 'planar_speed': 5.92339468031813, 'saturation': 0.1173148148148148, 'reward': 5.589023491353007, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.07577777777777778, 'bad_contact': 0.09633333333333331, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:11:36,977Z INFO episode phase=validation condition=speed__-0.2000 seed=110002 metrics={'x_velocity': 12.052431083228361, 'y_velocity': 0.0, 'planar_speed': 12.052431083228361, 'height': 0.6674476541495306, 'yaw_rate': 0.0, 'effort': 0.6391231637696425, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.668957184963263, 'saturation': 0.08277777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 542.3593987452763, 'return': 11266.279718090736, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:11:36,992Z INFO episode phase=validation condition=speed__-0.2000 seed=110003 metrics={'x_velocity': 11.846113410838791, 'y_velocity': 0.0, 'planar_speed': 11.846113410838791, 'height': 0.6620127582219536, 'yaw_rate': 0.0, 'effort': 0.6368644320468108, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.463994751633885, 'saturation': 0.08518518518518517, 'length': 1000.0, 'failure': 0.0, 'distance': 533.0751034877457, 'return': 11152.367205545506, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:11:37,007Z INFO episode phase=validation condition=speed__-0.2000 seed=110001 metrics={'x_velocity': 11.770610884421027, 'y_velocity': 0.0, 'planar_speed': 11.770610884421027, 'height': 0.6660920441079093, 'yaw_rate': 0.0, 'effort': 0.6374163660572635, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.388161064803226, 'saturation': 0.08166666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 529.6774897989462, 'return': 10932.207707453748, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:11:37,043Z INFO episode phase=validation condition=speed__-0.2000 seed=110000 metrics={'x_velocity': 11.042663327548087, 'y_velocity': 0.0, 'planar_speed': 11.042663327548087, 'height': 0.6837008347412649, 'yaw_rate': 0.0, 'effort': 0.6358427193181382, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 10.661157696723786, 'saturation': 0.09037037037037036, 'length': 1000.0, 'failure': 0.0, 'distance': 496.91984973966396, 'return': 10329.65896939029, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:11:37,908Z INFO episode phase=validation condition=speed__-0.2000 seed=110004 metrics={'x_velocity': 11.209917193880806, 'y_velocity': 0.0, 'planar_speed': 11.209917193880806, 'height': 0.6563091590991217, 'yaw_rate': 0.0, 'effort': 0.6298822018918064, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.831987872684465, 'saturation': 0.08629629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 504.4462737246363, 'return': 10533.95701585203, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:11:37,926Z INFO episode phase=validation condition=speed__-0.2000 seed=110005 metrics={'x_velocity': 11.618338257872802, 'y_velocity': 0.0, 'planar_speed': 11.618338257872802, 'height': 0.6676014838082603, 'yaw_rate': 0.0, 'effort': 0.6380758288419909, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.235492760423563, 'saturation': 0.0887037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 522.8252216042761, 'return': 10853.761345682911, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:11:37,939Z INFO episode phase=validation condition=speed__-0.2000 seed=110007 metrics={'x_velocity': 5.508690954023707, 'y_velocity': 0.0, 'planar_speed': 5.551245320494503, 'height': 0.3975089718439381, 'yaw_rate': 0.0, 'effort': 0.3918002753673742, 'inversion': 0.6155555555555555, 'bad_contact': 0.27, 'reward': 5.273610788659859, 'saturation': 0.03259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 247.89109293106682, 'return': 5593.012703210469, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:11:37,959Z INFO episode phase=validation condition=speed__-0.2000 seed=110006 metrics={'x_velocity': 11.975462683884668, 'y_velocity': 0.0, 'planar_speed': 11.975462683884668, 'height': 0.6627082375597954, 'yaw_rate': 0.0, 'effort': 0.6347614861031373, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.594605791736017, 'saturation': 0.08185185185185186, 'length': 1000.0, 'failure': 0.0, 'distance': 538.8958207748101, 'return': 11194.084034794589, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:11:38,894Z INFO episode phase=validation condition=speed__-0.2000 seed=110009 metrics={'x_velocity': 11.326652570503507, 'y_velocity': 0.0, 'planar_speed': 11.326652570503507, 'height': 0.6724422803539639, 'yaw_rate': 0.0, 'effort': 0.639847174535195, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.942744266355254, 'saturation': 0.09166666666666666, 'length': 1000.0, 'failure': 0.0, 'distance': 509.6993656726578, 'return': 10630.217485455632, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:11:38,919Z INFO episode phase=validation condition=speed__-0.2000 seed=110008 metrics={'x_velocity': 12.13363233844599, 'y_velocity': 0.0, 'planar_speed': 12.13363233844599, 'height': 0.6643744841687812, 'yaw_rate': 0.0, 'effort': 0.6367923865550095, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.751556906708355, 'saturation': 0.08574074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 546.0134552300696, 'return': 11367.35904360576, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:11:38,926Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': -0.2, 'effect': {'behavior': 'speed', 'effect': -5.747026875150166, 'ci95': [-7.060503118645253, -4.965547070310828], 'relative_effect': -0.34217703273012395, 'baseline_mean': 16.795478145614943, 'treated_mean': 11.048451270464776, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 11.048451270464776, 'effort': 0.6120406034486368, 'height': 0.6400197908054519, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.06155555555555555, 'bad_contact': 0.027222222222222224, 'planar_speed': 11.052706707111856, 'saturation': 0.08068518518518518, 'reward': 10.681226908469167, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.06155555555555555, 'bad_contact': 0.027222222222222224, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:11:39,896Z INFO episode phase=validation condition=speed__-0.1000 seed=110000 metrics={'x_velocity': 14.16479598294938, 'y_velocity': 0.0, 'planar_speed': 14.16479598294938, 'height': 0.6369823096161201, 'yaw_rate': 0.0, 'effort': 0.6106476853787899, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.798407371592964, 'saturation': 0.03333333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 637.4158192327222, 'return': 13153.18367677255, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:11:39,913Z INFO episode phase=validation condition=speed__-0.1000 seed=110002 metrics={'x_velocity': 13.767967908780243, 'y_velocity': 0.0, 'planar_speed': 13.767967908780243, 'height': 0.6427483216198947, 'yaw_rate': 0.0, 'effort': 0.6171493386973937, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.397678305738962, 'saturation': 0.03722222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 619.558555895111, 'return': 12822.128726788867, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:11:39,928Z INFO episode phase=validation condition=speed__-0.1000 seed=110003 metrics={'x_velocity': 13.58695037703637, 'y_velocity': 0.0, 'planar_speed': 13.58695037703637, 'height': 0.6581404219624465, 'yaw_rate': 0.0, 'effort': 0.620016159473194, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 13.214940681261393, 'saturation': 0.04574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 611.4127669666367, 'return': 12728.218542210263, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:11:39,944Z INFO episode phase=validation condition=speed__-0.1000 seed=110001 metrics={'x_velocity': 13.476918411890118, 'y_velocity': 0.0, 'planar_speed': 13.476918411890118, 'height': 0.6363040875647524, 'yaw_rate': 0.0, 'effort': 0.6195163448982769, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.105208604984265, 'saturation': 0.04814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 606.4613285350554, 'return': 12477.550493616687, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:11:40,830Z INFO episode phase=validation condition=speed__-0.1000 seed=110005 metrics={'x_velocity': 6.75309451819807, 'y_velocity': 0.0, 'planar_speed': 6.753168390039896, 'height': 0.3966479261659256, 'yaw_rate': 0.0, 'effort': 0.3196348323010736, 'inversion': 0.5266666666666666, 'bad_contact': 0.48333333333333334, 'reward': 6.561313618893585, 'saturation': 0.02018518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 303.8892533189132, 'return': 6647.000118305933, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:11:40,846Z INFO episode phase=validation condition=speed__-0.1000 seed=110004 metrics={'x_velocity': 13.467091922599854, 'y_velocity': 0.0, 'planar_speed': 13.467091922599854, 'height': 0.6497421458899213, 'yaw_rate': 0.0, 'effort': 0.6254909917712211, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.09179732705366, 'saturation': 0.04666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 606.0191365169934, 'return': 12567.785524784307, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:11:40,861Z INFO episode phase=validation condition=speed__-0.1000 seed=110006 metrics={'x_velocity': 13.756373031817771, 'y_velocity': 0.0, 'planar_speed': 13.756373031817771, 'height': 0.6527388130392863, 'yaw_rate': 0.0, 'effort': 0.6126488922701941, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.38878369644241, 'saturation': 0.03314814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 619.0367864317998, 'return': 12808.844149030341, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:11:40,874Z INFO episode phase=validation condition=speed__-0.1000 seed=110007 metrics={'x_velocity': 13.531258644734784, 'y_velocity': 0.0, 'planar_speed': 13.531258644734784, 'height': 0.6564253076699355, 'yaw_rate': 0.0, 'effort': 0.6203434693316618, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 13.159052563264929, 'saturation': 0.044259259259259255, 'length': 1000.0, 'failure': 0.0, 'distance': 608.9066390130653, 'return': 12689.910300355034, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:11:41,750Z INFO episode phase=validation condition=speed__-0.1000 seed=110008 metrics={'x_velocity': 8.378510661566464, 'y_velocity': 0.0, 'planar_speed': 8.388746755913326, 'height': 0.6184945029360925, 'yaw_rate': 0.0, 'effort': 0.38214820485251644, 'inversion': 0.03888888888888889, 'bad_contact': 0.35555555555555557, 'reward': 8.149221738471796, 'saturation': 0.024814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 377.03297977049095, 'return': 8125.257392192854, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:11:41,780Z INFO episode phase=validation condition=speed__-0.1000 seed=110009 metrics={'x_velocity': 13.576420903705452, 'y_velocity': 0.0, 'planar_speed': 13.576420903705452, 'height': 0.6435152492392411, 'yaw_rate': 0.0, 'effort': 0.6234012914862898, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.202380128624931, 'saturation': 0.03981481481481481, 'length': 1000.0, 'failure': 0.0, 'distance': 610.9389406667455, 'return': 12663.889761498342, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:11:41,788Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': -0.1, 'effect': {'behavior': 'speed', 'effect': -4.34953990928709, 'ci95': [-6.054552360905866, -3.0911363247747956], 'relative_effect': -0.25897088916296745, 'baseline_mean': 16.795478145614943, 'treated_mean': 12.445938236327851, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.445938236327851, 'effort': 0.5650997210460612, 'height': 0.6191739085703617, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.056555555555555546, 'bad_contact': 0.08411111111111111, 'planar_speed': 12.44696923294672, 'saturation': 0.03733333333333333, 'reward': 12.106878403632887, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.056555555555555546, 'bad_contact': 0.08411111111111111, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:11:42,757Z INFO episode phase=validation condition=speed__-0.0500 seed=110002 metrics={'x_velocity': 15.70667678170903, 'y_velocity': 0.0, 'planar_speed': 15.70667678170903, 'height': 0.6291424489617724, 'yaw_rate': 0.0, 'effort': 0.5978452189763387, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.347969650323227, 'saturation': 0.006296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 706.8004551769063, 'return': 14577.390936914704, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:11:42,773Z INFO episode phase=validation condition=speed__-0.0500 seed=110001 metrics={'x_velocity': 7.877969968982295, 'y_velocity': 0.0, 'planar_speed': 7.887262046284804, 'height': 0.6266421871625416, 'yaw_rate': 0.0, 'effort': 0.32922159945799245, 'inversion': 0.01, 'bad_contact': 0.44666666666666666, 'reward': 7.6804370094308485, 'saturation': 0.013333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 354.50864860420324, 'return': 7595.25605761861, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:11:42,787Z INFO episode phase=validation condition=speed__-0.0500 seed=110003 metrics={'x_velocity': 15.337610231085948, 'y_velocity': 0.0, 'planar_speed': 15.337610231085948, 'height': 0.6303323614047619, 'yaw_rate': 0.0, 'effort': 0.6096416453851594, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.971825244060156, 'saturation': 0.019074074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 690.1924603988678, 'return': 14309.414648729151, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:11:42,804Z INFO episode phase=validation condition=speed__-0.0500 seed=110000 metrics={'x_velocity': 15.646153657749148, 'y_velocity': 0.0, 'planar_speed': 15.646153657749148, 'height': 0.6250814594068065, 'yaw_rate': 0.0, 'effort': 0.5992374351620674, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.286611197188348, 'saturation': 0.010555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 704.0769145987117, 'return': 14492.567119808398, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:11:43,685Z INFO episode phase=validation condition=speed__-0.0500 seed=110004 metrics={'x_velocity': 15.511150074449093, 'y_velocity': 0.0, 'planar_speed': 15.511150074449093, 'height': 0.6271075523952164, 'yaw_rate': 0.0, 'effort': 0.6051290388239755, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.148072651009011, 'saturation': 0.015555555555555553, 'length': 1000.0, 'failure': 0.0, 'distance': 698.0017533502092, 'return': 14418.43331634412, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:11:43,700Z INFO episode phase=validation condition=speed__-0.0500 seed=110005 metrics={'x_velocity': 15.691236383793912, 'y_velocity': 0.0, 'planar_speed': 15.691236383793912, 'height': 0.6268194881919584, 'yaw_rate': 0.0, 'effort': 0.6022653366128604, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.329877181461946, 'saturation': 0.009814814814814813, 'length': 1000.0, 'failure': 0.0, 'distance': 706.1056372707261, 'return': 14538.707324617455, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:11:43,715Z INFO episode phase=validation condition=speed__-0.0500 seed=110006 metrics={'x_velocity': 15.47971641998762, 'y_velocity': 0.0, 'planar_speed': 15.47971641998762, 'height': 0.6332367071831363, 'yaw_rate': 0.0, 'effort': 0.6030942752626207, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.117859855068467, 'saturation': 0.012037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 696.5872388994429, 'return': 14365.012691793792, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:11:43,730Z INFO episode phase=validation condition=speed__-0.0500 seed=110007 metrics={'x_velocity': 15.86712148631776, 'y_velocity': 0.0, 'planar_speed': 15.86712148631776, 'height': 0.6211346200822638, 'yaw_rate': 0.0, 'effort': 0.5980318612191412, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.508302369566405, 'saturation': 0.008703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 714.0204668842993, 'return': 14804.235126026362, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:11:44,617Z INFO episode phase=validation condition=speed__-0.0500 seed=110008 metrics={'x_velocity': 15.61009223170382, 'y_velocity': 0.0, 'planar_speed': 15.61009223170382, 'height': 0.6215025599069715, 'yaw_rate': 0.0, 'effort': 0.6069513568613264, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.24592141761352, 'saturation': 0.01611111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 702.454150426672, 'return': 14512.287103420405, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:11:44,637Z INFO episode phase=validation condition=speed__-0.0500 seed=110009 metrics={'x_velocity': 15.45990929263171, 'y_velocity': 0.0, 'planar_speed': 15.45990929263171, 'height': 0.626310733414183, 'yaw_rate': 0.0, 'effort': 0.6103588693671756, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.093693970428605, 'saturation': 0.01722222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 695.6959181684269, 'return': 14366.072219121648, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:11:44,645Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': -0.05, 'effect': {'behavior': 'speed', 'effect': -1.9767144927739069, 'ci95': [-3.5534729782458676, -1.1366097414799456], 'relative_effect': -0.11769325503186097, 'baseline_mean': 16.795478145614943, 'treated_mean': 14.818763652841033, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 14.818763652841033, 'effort': 0.5761776637128657, 'height': 0.6267310118109611, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.001, 'bad_contact': 0.04466666666666667, 'planar_speed': 14.819692860571285, 'saturation': 0.012870370370370369, 'reward': 14.473057054615051, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.001, 'bad_contact': 0.04466666666666667, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:11:45,620Z INFO episode phase=validation condition=speed__+0.0500 seed=110002 metrics={'x_velocity': 13.622156147148432, 'y_velocity': 0.0, 'planar_speed': 13.622156147148432, 'height': 0.6419820900232377, 'yaw_rate': 0.0, 'effort': 0.6547386506696542, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.229312956610876, 'saturation': 0.04777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 612.9970266216795, 'return': 12670.599912573587, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:11:45,635Z INFO episode phase=validation condition=speed__+0.0500 seed=110003 metrics={'x_velocity': 9.559317102553424, 'y_velocity': 0.0, 'planar_speed': 9.559381503397132, 'height': 0.4755947816415211, 'yaw_rate': 0.0, 'effort': 0.4518059821095732, 'inversion': 0.34, 'bad_contact': 0.3, 'reward': 9.288233513612196, 'saturation': 0.028703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 430.1692696149041, 'return': 9194.182091325985, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:11:45,650Z INFO episode phase=validation condition=speed__+0.0500 seed=110000 metrics={'x_velocity': 9.5450194252482, 'y_velocity': 0.0, 'planar_speed': 9.55509496826237, 'height': 0.6308189047819898, 'yaw_rate': 0.0, 'effort': 0.48038273508350054, 'inversion': 0.024444444444444446, 'bad_contact': 0.2411111111111111, 'reward': 9.256789784145116, 'saturation': 0.043703703703703696, 'length': 1000.0, 'failure': 0.0, 'distance': 429.52587413616897, 'return': 9065.727848069488, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:11:45,668Z INFO episode phase=validation condition=speed__+0.0500 seed=110001 metrics={'x_velocity': 13.978782019029724, 'y_velocity': 0.0, 'planar_speed': 13.978782019029724, 'height': 0.6318835102682709, 'yaw_rate': 0.0, 'effort': 0.6614791381359101, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.581894536850188, 'saturation': 0.05574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 629.0451908563376, 'return': 12906.567832296014, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:11:46,545Z INFO episode phase=validation condition=speed__+0.0500 seed=110004 metrics={'x_velocity': 14.201391167060894, 'y_velocity': 0.0, 'planar_speed': 14.201391167060894, 'height': 0.6275724531682709, 'yaw_rate': 0.0, 'effort': 0.6531137577361531, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.809522912147669, 'saturation': 0.042592592592592585, 'length': 1000.0, 'failure': 0.0, 'distance': 639.0626025177403, 'return': 13213.738551368915, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:11:46,560Z INFO episode phase=validation condition=speed__+0.0500 seed=110006 metrics={'x_velocity': 13.874920181822285, 'y_velocity': 0.0, 'planar_speed': 13.874920181822285, 'height': 0.6252900361815974, 'yaw_rate': 0.0, 'effort': 0.6504070804516474, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.484675933511557, 'saturation': 0.040370370370370376, 'length': 1000.0, 'failure': 0.0, 'distance': 624.3714081820028, 'return': 12895.147162392575, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:11:46,575Z INFO episode phase=validation condition=speed__+0.0500 seed=110005 metrics={'x_velocity': 13.416194648682168, 'y_velocity': 0.0, 'planar_speed': 13.416194648682168, 'height': 0.6318151765630448, 'yaw_rate': 0.0, 'effort': 0.6436024341649479, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.030033187852064, 'saturation': 0.046851851851851846, 'length': 1000.0, 'failure': 0.0, 'distance': 603.7287591906976, 'return': 12468.847730368561, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:11:46,589Z INFO episode phase=validation condition=speed__+0.0500 seed=110007 metrics={'x_velocity': 12.737479345245681, 'y_velocity': 0.0, 'planar_speed': 12.741062476153953, 'height': 0.629732008189247, 'yaw_rate': 0.0, 'effort': 0.6182339055536108, 'inversion': 0.024444444444444446, 'bad_contact': 0.028888888888888888, 'reward': 12.366539002499836, 'saturation': 0.052037037037037034, 'length': 1000.0, 'failure': 0.0, 'distance': 573.1865705360557, 'return': 11976.648095666447, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:11:47,452Z INFO episode phase=validation condition=speed__+0.0500 seed=110008 metrics={'x_velocity': 13.79440205478412, 'y_velocity': 0.0, 'planar_speed': 13.79440205478412, 'height': 0.6286713977941382, 'yaw_rate': 0.0, 'effort': 0.6603216109010909, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.39820908817724, 'saturation': 0.05259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 620.7480924652855, 'return': 12849.346006927753, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:11:47,466Z INFO episode phase=validation condition=speed__+0.0500 seed=110009 metrics={'x_velocity': 13.221978790239815, 'y_velocity': 0.0, 'planar_speed': 13.221978790239815, 'height': 0.6300664541411819, 'yaw_rate': 0.0, 'effort': 0.6565872933963934, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 12.828026414132442, 'saturation': 0.05537037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 594.9890455607917, 'return': 12326.9714184551, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:11:47,476Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': 0.05, 'effect': {'behavior': 'speed', 'effect': -4.0003140574334655, 'ci95': [-5.114765784837226, -3.0848637166063644], 'relative_effect': -0.23817803951463506, 'baseline_mean': 16.795478145614943, 'treated_mean': 12.795164088181473, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.795164088181473, 'effort': 0.6130672588202482, 'height': 0.6153426812752499, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.03888888888888889, 'bad_contact': 0.0571111111111111, 'planar_speed': 12.79653639565809, 'saturation': 0.046574074074074066, 'reward': 12.42732373295392, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.03888888888888889, 'bad_contact': 0.0571111111111111, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:11:48,453Z INFO episode phase=validation condition=speed__+0.1000 seed=110003 metrics={'x_velocity': 12.144791428399367, 'y_velocity': 0.0, 'planar_speed': 12.144791428399367, 'height': 0.6398597311513681, 'yaw_rate': 0.0, 'effort': 0.6548728196819623, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.751867736663039, 'saturation': 0.08962962962962961, 'length': 1000.0, 'failure': 0.0, 'distance': 546.5156142779715, 'return': 11411.452892071746, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:11:48,469Z INFO episode phase=validation condition=speed__+0.1000 seed=110000 metrics={'x_velocity': 11.535453338431427, 'y_velocity': 0.0, 'planar_speed': 11.535453338431427, 'height': 0.6561082246623696, 'yaw_rate': 0.0, 'effort': 0.6482190050019159, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 11.146521935999832, 'saturation': 0.0811111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 519.0954002294142, 'return': 10766.486784738732, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:11:48,484Z INFO episode phase=validation condition=speed__+0.1000 seed=110002 metrics={'x_velocity': 6.4091216101953785, 'y_velocity': 0.0, 'planar_speed': 6.484534872564145, 'height': 0.4089190366532564, 'yaw_rate': 0.0, 'effort': 0.45997465162848433, 'inversion': 0.54, 'bad_contact': 0.2611111111111111, 'reward': 6.1331368193569515, 'saturation': 0.03685185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 288.41047245879207, 'return': 6284.041389045056, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:11:48,503Z INFO episode phase=validation condition=speed__+0.1000 seed=110001 metrics={'x_velocity': 2.0086305059084832, 'y_velocity': 0.0, 'planar_speed': 2.0119908496126166, 'height': 0.5576449796228586, 'yaw_rate': 0.0, 'effort': 0.10859260875007344, 'inversion': 0.025555555555555557, 'bad_contact': 0.8066666666666666, 'reward': 1.943474940523708, 'saturation': 0.012222222222222223, 'length': 1000.0, 'failure': 0.0, 'distance': 90.38837276588175, 'return': 2431.990195602183, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:11:49,426Z INFO episode phase=validation condition=speed__+0.1000 seed=110004 metrics={'x_velocity': 12.106758313001208, 'y_velocity': 0.0, 'planar_speed': 12.106758313001208, 'height': 0.6602363748752883, 'yaw_rate': 0.0, 'effort': 0.6619115153120624, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 11.709611403439789, 'saturation': 0.08222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 544.8041240850544, 'return': 11323.81819353182, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:11:49,442Z INFO episode phase=validation condition=speed__+0.1000 seed=110006 metrics={'x_velocity': 9.409216060169246, 'y_velocity': 0.0, 'planar_speed': 9.419074171705264, 'height': 0.6368391780010673, 'yaw_rate': 0.0, 'effort': 0.531324491261815, 'inversion': 0.011111111111111112, 'bad_contact': 0.14555555555555555, 'reward': 9.090421365004653, 'saturation': 0.060370370370370366, 'length': 1000.0, 'failure': 0.0, 'distance': 423.4147227076161, 'return': 8940.31805073636, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:11:49,457Z INFO episode phase=validation condition=speed__+0.1000 seed=110005 metrics={'x_velocity': 12.181249154948588, 'y_velocity': 0.0, 'planar_speed': 12.181249154948588, 'height': 0.6473063265116573, 'yaw_rate': 0.0, 'effort': 0.6502030099100536, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.791127349479392, 'saturation': 0.075, 'length': 1000.0, 'failure': 0.0, 'distance': 548.1562119726865, 'return': 11353.832475833158, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:11:49,472Z INFO episode phase=validation condition=speed__+0.1000 seed=110007 metrics={'x_velocity': 9.950766800159437, 'y_velocity': 0.0, 'planar_speed': 9.994341949649796, 'height': 0.6513579950936014, 'yaw_rate': 0.0, 'effort': 0.663154223329491, 'inversion': 0.0022222222222222222, 'bad_contact': 0.013333333333333334, 'reward': 9.552874266340556, 'saturation': 0.10685185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 447.78450600717474, 'return': 9444.349833123097, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:11:50,337Z INFO episode phase=validation condition=speed__+0.1000 seed=110008 metrics={'x_velocity': 5.39666792614375, 'y_velocity': 0.0, 'planar_speed': 5.406232456488577, 'height': 0.5866193629445675, 'yaw_rate': 0.0, 'effort': 0.3040900113164551, 'inversion': 0.015555555555555555, 'bad_contact': 0.5211111111111111, 'reward': 5.214213919252466, 'saturation': 0.03555555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 242.85005667646874, 'return': 5483.750354895458, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:11:50,354Z INFO episode phase=validation condition=speed__+0.1000 seed=110009 metrics={'x_velocity': 4.52359999086859, 'y_velocity': 0.0, 'planar_speed': 4.617839742368055, 'height': 0.34614383089814954, 'yaw_rate': 0.0, 'effort': 0.4045218864579995, 'inversion': 0.6955555555555556, 'bad_contact': 0.3433333333333333, 'reward': 4.280886859257043, 'saturation': 0.030740740740740742, 'length': 1000.0, 'failure': 0.0, 'distance': 203.56199958908655, 'return': 4634.545819067243, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:11:50,361Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': 0.1, 'effect': {'behavior': 'speed', 'effect': -8.228852632792393, 'ci95': [-10.483902028564723, -6.188394235942685], 'relative_effect': -0.4899445292029883, 'baseline_mean': 16.795478145614943, 'treated_mean': 8.566625512822547, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.566625512822547, 'effort': 0.5086864222650311, 'height': 0.5791035040414185, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.129, 'bad_contact': 0.20933333333333332, 'planar_speed': 8.590226627716905, 'saturation': 0.06105555555555555, 'reward': 8.261413659531744, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.129, 'bad_contact': 0.20933333333333332, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:11:51,305Z INFO episode phase=validation condition=speed__+0.2000 seed=110002 metrics={'x_velocity': 7.1430505257084365, 'y_velocity': 0.0, 'planar_speed': 7.181666554709943, 'height': 0.5458203430256806, 'yaw_rate': 0.0, 'effort': 0.553547077069266, 'inversion': 0.27666666666666667, 'bad_contact': 0.13111111111111112, 'reward': 6.810922279392786, 'saturation': 0.0898148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 321.43727365687965, 'return': 6894.048303077307, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:11:51,321Z INFO episode phase=validation condition=speed__+0.2000 seed=110000 metrics={'x_velocity': 8.996640772403186, 'y_velocity': 0.0, 'planar_speed': 8.996640772403186, 'height': 0.6579923487200328, 'yaw_rate': 0.0, 'effort': 0.6325144100354777, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 8.61713212631236, 'saturation': 0.10407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 404.84883475814337, 'return': 8490.035956020007, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:11:51,336Z INFO episode phase=validation condition=speed__+0.2000 seed=110001 metrics={'x_velocity': 2.8486202332365984, 'y_velocity': 0.0, 'planar_speed': 2.8575517161531168, 'height': 0.5591039762078479, 'yaw_rate': 0.0, 'effort': 0.1950745569407526, 'inversion': 0.013333333333333334, 'bad_contact': 0.6844444444444444, 'reward': 2.731575498908441, 'saturation': 0.03407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 128.18791049564695, 'return': 3141.280698148443, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:11:51,352Z INFO episode phase=validation condition=speed__+0.2000 seed=110003 metrics={'x_velocity': 3.8139813226186368, 'y_velocity': 0.0, 'planar_speed': 3.9055849136810816, 'height': 0.328926598792724, 'yaw_rate': 0.0, 'effort': 0.4147621489543882, 'inversion': 0.6988888888888889, 'bad_contact': 0.3433333333333333, 'reward': 3.5651240331238974, 'saturation': 0.041111111111111105, 'length': 1000.0, 'failure': 0.0, 'distance': 171.62915951783867, 'return': 4043.3835588865186, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:11:52,256Z INFO episode phase=validation condition=speed__+0.2000 seed=110004 metrics={'x_velocity': 7.9853640158392185, 'y_velocity': 0.0, 'planar_speed': 8.009920156504505, 'height': 0.6488588403721067, 'yaw_rate': 0.0, 'effort': 0.6472767945627371, 'inversion': 0.0, 'bad_contact': 0.013333333333333334, 'reward': 7.596997939144623, 'saturation': 0.12907407407407406, 'length': 1000.0, 'failure': 0.0, 'distance': 359.3413807127649, 'return': 7622.466075666173, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:11:52,271Z INFO episode phase=validation condition=speed__+0.2000 seed=110005 metrics={'x_velocity': 7.649975535634623, 'y_velocity': 0.0, 'planar_speed': 7.668557136882432, 'height': 0.5588031663024339, 'yaw_rate': 0.0, 'effort': 0.5598108712294035, 'inversion': 0.23222222222222222, 'bad_contact': 0.09444444444444444, 'reward': 7.314089013002116, 'saturation': 0.0785185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 344.2488991035581, 'return': 7324.497973003608, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:11:52,284Z INFO episode phase=validation condition=speed__+0.2000 seed=110007 metrics={'x_velocity': 2.667892916617398, 'y_velocity': 0.0, 'planar_speed': 2.776692296007825, 'height': 0.28514645780378617, 'yaw_rate': 0.0, 'effort': 0.38034979827495086, 'inversion': 0.8122222222222222, 'bad_contact': 0.4011111111111111, 'reward': 2.4396830375982037, 'saturation': 0.033333333333333326, 'length': 1000.0, 'failure': 0.0, 'distance': 120.05518124778291, 'return': 3042.4777272549795, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:11:52,295Z INFO episode phase=validation condition=speed__+0.2000 seed=110006 metrics={'x_velocity': 0.5711062196157526, 'y_velocity': 0.0, 'planar_speed': 0.5711217380570581, 'height': 0.15156203515665378, 'yaw_rate': 0.0, 'effort': 0.9945361374153031, 'inversion': 0.9822222222222222, 'bad_contact': 0.9255555555555556, 'reward': -0.025615462879788487, 'saturation': 0.987962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 25.699779882708867, 'return': 735.8849056403631, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:11:53,147Z INFO episode phase=validation condition=speed__+0.2000 seed=110009 metrics={'x_velocity': 9.44344282339003, 'y_velocity': 0.0, 'planar_speed': 9.44344282339003, 'height': 0.6582497095563965, 'yaw_rate': 0.0, 'effort': 0.6356199699474706, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 9.062070841279157, 'saturation': 0.10462962962962961, 'length': 1000.0, 'failure': 0.0, 'distance': 424.9549270525513, 'return': 8937.611402887145, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:11:53,178Z INFO episode phase=validation condition=speed__+0.2000 seed=110008 metrics={'x_velocity': 2.746418152125934, 'y_velocity': 0.0, 'planar_speed': 2.7550346670075063, 'height': 0.5616533770300157, 'yaw_rate': 0.0, 'effort': 0.18395244283394682, 'inversion': 0.028888888888888888, 'bad_contact': 0.6933333333333334, 'reward': 2.6360466862595833, 'saturation': 0.038703703703703705, 'length': 1000.0, 'failure': 0.0, 'distance': 123.58881684566703, 'return': 3163.3998452018636, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:11:53,186Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': 0.2, 'effect': {'behavior': 'speed', 'effect': -11.40882889389596, 'ci95': [-13.247518179530953, -9.548845807889986], 'relative_effect': -0.67927979155953, 'baseline_mean': 16.795478145614943, 'treated_mean': 5.386649251718981, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 5.386649251718981, 'effort': 0.5197444207263697, 'height': 0.49561168529676775, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.3044444444444444, 'bad_contact': 0.3292222222222222, 'planar_speed': 5.416621277479668, 'saturation': 0.16412962962962963, 'reward': 5.074802599214138, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.3044444444444444, 'bad_contact': 0.3292222222222222, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:11:54,113Z INFO episode phase=validation condition=speed__+0.5000 seed=110000 metrics={'x_velocity': 2.078259046652006, 'y_velocity': 0.0, 'planar_speed': 2.2764266582704975, 'height': 0.5707080128717299, 'yaw_rate': 0.0, 'effort': 0.6928167469261421, 'inversion': 0.0, 'bad_contact': 0.034444444444444444, 'reward': 1.6625689988862344, 'saturation': 0.2853703703703704, 'length': 1000.0, 'failure': 0.0, 'distance': 93.52165709934027, 'return': 2230.9291413364945, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:11:54,129Z INFO episode phase=validation condition=speed__+0.5000 seed=110001 metrics={'x_velocity': 2.386844500094312, 'y_velocity': 0.0, 'planar_speed': 2.5780056245920253, 'height': 0.5711624115772869, 'yaw_rate': 0.0, 'effort': 0.6919004656705592, 'inversion': 0.0, 'bad_contact': 0.03333333333333333, 'reward': 1.9717042199204273, 'saturation': 0.2644444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 107.40800250424405, 'return': 2457.396547059231, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:11:54,139Z INFO episode phase=validation condition=speed__+0.5000 seed=110002 metrics={'x_velocity': 0.4905207370043052, 'y_velocity': 0.0, 'planar_speed': 0.49056447552764654, 'height': 0.15074985253864498, 'yaw_rate': 0.0, 'effort': 0.9965526854991913, 'inversion': 0.9855555555555555, 'bad_contact': 0.94, 'reward': -0.10741087421573677, 'saturation': 0.9907407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 22.073433165193734, 'return': 667.5484648296365, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:11:54,156Z INFO episode phase=validation condition=speed__+0.5000 seed=110003 metrics={'x_velocity': 2.560506226764306, 'y_velocity': 0.0, 'planar_speed': 2.6994735012953273, 'height': 0.5861134841629692, 'yaw_rate': 0.0, 'effort': 0.6806877046161228, 'inversion': 0.0, 'bad_contact': 0.027777777777777776, 'reward': 2.15209360420656, 'saturation': 0.26037037037037036, 'length': 1000.0, 'failure': 0.0, 'distance': 115.22278020439379, 'return': 2771.6561728609145, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:11:55,052Z INFO episode phase=validation condition=speed__+0.5000 seed=110004 metrics={'x_velocity': 2.6427737485326874, 'y_velocity': 0.0, 'planar_speed': 2.871173320077817, 'height': 0.5735018038923755, 'yaw_rate': 0.0, 'effort': 0.6985773958265782, 'inversion': 0.0011111111111111111, 'bad_contact': 0.04777777777777778, 'reward': 2.223627310993693, 'saturation': 0.27092592592592596, 'length': 1000.0, 'failure': 0.0, 'distance': 118.92481868397095, 'return': 2786.4325103303354, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:11:55,078Z INFO episode phase=validation condition=speed__+0.5000 seed=110006 metrics={'x_velocity': 1.9770047080882895, 'y_velocity': 0.0, 'planar_speed': 2.2363692946741467, 'height': 0.5551969899164438, 'yaw_rate': 0.0, 'effort': 0.7163390009933048, 'inversion': 0.0, 'bad_contact': 0.04555555555555556, 'reward': 1.547201307657875, 'saturation': 0.31740740740740736, 'length': 1000.0, 'failure': 0.0, 'distance': 88.96521186397302, 'return': 2151.4199991242604, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:11:55,092Z INFO episode phase=validation condition=speed__+0.5000 seed=110005 metrics={'x_velocity': 2.1677689997201726, 'y_velocity': 0.0, 'planar_speed': 2.4080052943694956, 'height': 0.5667160320301383, 'yaw_rate': 0.0, 'effort': 0.6870327382617527, 'inversion': 0.0, 'bad_contact': 0.034444444444444444, 'reward': 1.755549356710139, 'saturation': 0.2624074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 97.54960498740778, 'return': 2321.8122823408303, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:11:55,106Z INFO episode phase=validation condition=speed__+0.5000 seed=110007 metrics={'x_velocity': 2.700525993646976, 'y_velocity': 0.0, 'planar_speed': 2.882259088508622, 'height': 0.5655273798876967, 'yaw_rate': 0.0, 'effort': 0.7089815893769265, 'inversion': 0.0, 'bad_contact': 0.024444444444444446, 'reward': 2.2751370400671798, 'saturation': 0.2907407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 121.52366971411394, 'return': 2894.386329477058, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:11:55,976Z INFO episode phase=validation condition=speed__+0.5000 seed=110008 metrics={'x_velocity': 2.4880731975947166, 'y_velocity': 0.0, 'planar_speed': 2.678170313789184, 'height': 0.5732885852238698, 'yaw_rate': 0.0, 'effort': 0.6997125090079175, 'inversion': 0.0, 'bad_contact': 0.03222222222222222, 'reward': 2.0682456922181123, 'saturation': 0.2777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 111.96329389176225, 'return': 2652.37895056454, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:11:56,010Z INFO episode phase=validation condition=speed__+0.5000 seed=110009 metrics={'x_velocity': 2.9664540710928144, 'y_velocity': 0.0, 'planar_speed': 3.137322022777201, 'height': 0.5887366197978389, 'yaw_rate': 0.0, 'effort': 0.6804895552496115, 'inversion': 0.0, 'bad_contact': 0.02, 'reward': 2.5581603379728506, 'saturation': 0.2435185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 133.49043319917664, 'return': 3084.0919499114693, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:11:56,024Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': 0.5, 'effect': {'behavior': 'speed', 'effect': -14.54960502269588, 'ci95': [-15.003992026733043, -14.220133437992912], 'relative_effect': -0.8662810845009835, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.2458731229190585, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.2458731229190585, 'effort': 0.7253090391428108, 'height': 0.5301701171898994, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09866666666666665, 'bad_contact': 0.124, 'planar_speed': 2.4257769593881964, 'saturation': 0.3463703703703704, 'reward': 1.8106876994417334, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09866666666666665, 'bad_contact': 0.124, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:11:56,968Z INFO episode phase=validation condition=speed_random0__-0.5000 seed=110001 metrics={'x_velocity': 3.469851844466675, 'y_velocity': 0.0, 'planar_speed': 3.469851844466675, 'height': 0.7132079680951346, 'yaw_rate': 0.0, 'effort': 0.5257716512576573, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.154388853640472, 'saturation': 0.13777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 156.1433330010004, 'return': 3521.8127174072715, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:11:56,983Z INFO episode phase=validation condition=speed_random0__-0.5000 seed=110002 metrics={'x_velocity': 3.4931633296293403, 'y_velocity': 0.0, 'planar_speed': 3.4931633296293403, 'height': 0.7168045698240602, 'yaw_rate': 0.0, 'effort': 0.5212570654021369, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.1804090907324403, 'saturation': 0.14925925925925923, 'length': 1000.0, 'failure': 0.0, 'distance': 157.19234983332032, 'return': 3626.5864332829956, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:11:57,010Z INFO episode phase=validation condition=speed_random0__-0.5000 seed=110000 metrics={'x_velocity': 3.8194266125911804, 'y_velocity': 0.0, 'planar_speed': 3.8194266125911804, 'height': 0.7151869077715886, 'yaw_rate': 0.0, 'effort': 0.517119141663942, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.509155127798948, 'saturation': 0.13999999999999999, 'length': 1000.0, 'failure': 0.0, 'distance': 171.87419756660313, 'return': 3892.856657357937, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:11:57,029Z INFO episode phase=validation condition=speed_random0__-0.5000 seed=110003 metrics={'x_velocity': 0.7030918964781303, 'y_velocity': 0.0, 'planar_speed': 0.7363783778270133, 'height': 0.35513787743689523, 'yaw_rate': 0.0, 'effort': 0.6894629266609749, 'inversion': 0.0, 'bad_contact': 0.9144444444444444, 'reward': 0.2894141397447657, 'saturation': 0.32129629629629625, 'length': 1000.0, 'failure': 0.0, 'distance': 31.639135341515864, 'return': 1095.2446548452995, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:11:57,913Z INFO episode phase=validation condition=speed_random0__-0.5000 seed=110004 metrics={'x_velocity': 3.449759419816772, 'y_velocity': 0.0, 'planar_speed': 3.449759419816772, 'height': 0.7096137478588631, 'yaw_rate': 0.0, 'effort': 0.5173384468340212, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.1393563515524465, 'saturation': 0.14203703703703704, 'length': 1000.0, 'failure': 0.0, 'distance': 155.23917389175475, 'return': 3610.5886468332137, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:11:57,932Z INFO episode phase=validation condition=speed_random0__-0.5000 seed=110005 metrics={'x_velocity': 3.7345292099412086, 'y_velocity': 0.0, 'planar_speed': 3.7345292099412086, 'height': 0.707503175341143, 'yaw_rate': 0.0, 'effort': 0.519587871659961, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.4227764867506894, 'saturation': 0.14777777777777779, 'length': 1000.0, 'failure': 0.0, 'distance': 168.0538144473544, 'return': 3822.3166993773248, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:11:57,948Z INFO episode phase=validation condition=speed_random0__-0.5000 seed=110007 metrics={'x_velocity': 3.6967753040634665, 'y_velocity': 0.0, 'planar_speed': 3.6967753040634665, 'height': 0.7162746017176564, 'yaw_rate': 0.0, 'effort': 0.5258328960173659, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.381275566017602, 'saturation': 0.14444444444444443, 'length': 1000.0, 'failure': 0.0, 'distance': 166.354888682856, 'return': 3889.9110028324385, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:11:57,965Z INFO episode phase=validation condition=speed_random0__-0.5000 seed=110006 metrics={'x_velocity': 3.677530257400906, 'y_velocity': 0.0, 'planar_speed': 3.677530257400906, 'height': 0.7130967620304473, 'yaw_rate': 0.0, 'effort': 0.5307702314812276, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.359068118628895, 'saturation': 0.1509259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 165.48886158304077, 'return': 3782.1001289981778, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:11:58,850Z INFO episode phase=validation condition=speed_random0__-0.5000 seed=110008 metrics={'x_velocity': 1.4203469483940254, 'y_velocity': 0.0, 'planar_speed': 1.447735820679321, 'height': 0.4277727205774213, 'yaw_rate': 0.0, 'effort': 0.6553297502361238, 'inversion': 0.0, 'bad_contact': 0.7044444444444444, 'reward': 1.0271490986559242, 'saturation': 0.28703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 63.91561267773115, 'return': 1715.3920163585706, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:11:58,867Z INFO episode phase=validation condition=speed_random0__-0.5000 seed=110009 metrics={'x_velocity': 1.3665423216914767, 'y_velocity': 0.0, 'planar_speed': 1.5065222661647255, 'height': 0.24594539235891458, 'yaw_rate': 0.0, 'effort': 0.3000092996004969, 'inversion': 0.9533333333333334, 'bad_contact': 0.4111111111111111, 'reward': 1.1865367420990236, 'saturation': 0.009259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 61.49440447611645, 'return': 1849.630713625025, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:11:58,878Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': -0.5, 'effect': {'behavior': 'speed', 'effect': -13.912376431167624, 'ci95': [-14.678146041527674, -13.257881124642028], 'relative_effect': -0.8283405992106241, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.883101714447318, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.883101714447318, 'effort': 0.5302479280813908, 'height': 0.6020543723012124, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09533333333333334, 'bad_contact': 0.20299999999999999, 'planar_speed': 2.903167244258061, 'saturation': 0.16298148148148148, 'reward': 2.564952957562121, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09533333333333334, 'bad_contact': 0.20299999999999999, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:11:59,805Z INFO episode phase=validation condition=speed_random0__-0.2000 seed=110003 metrics={'x_velocity': 0.8035162271331849, 'y_velocity': 0.0, 'planar_speed': 0.8035708991077718, 'height': 0.17126239117583228, 'yaw_rate': 0.0, 'effort': 0.0754392780073815, 'inversion': 0.9388888888888889, 'bad_contact': 0.9111111111111111, 'reward': 0.7582526605332331, 'saturation': 0.00574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 36.158230220993325, 'return': 1517.19932355492, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:11:59,822Z INFO episode phase=validation condition=speed_random0__-0.2000 seed=110001 metrics={'x_velocity': 4.320956321600389, 'y_velocity': 0.0, 'planar_speed': 4.393244588582629, 'height': 0.3692022924220633, 'yaw_rate': 0.0, 'effort': 0.35099070763422385, 'inversion': 0.6766666666666666, 'bad_contact': 0.29555555555555557, 'reward': 4.110361897091049, 'saturation': 0.017777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 194.44303447201753, 'return': 4382.18845651279, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:11:59,839Z INFO episode phase=validation condition=speed_random0__-0.2000 seed=110002 metrics={'x_velocity': 6.436290814701681, 'y_velocity': 0.0, 'planar_speed': 6.445196543743073, 'height': 0.6420282051929633, 'yaw_rate': 0.0, 'effort': 0.326749146675898, 'inversion': 0.008888888888888889, 'bad_contact': 0.3655555555555556, 'reward': 6.240241326625775, 'saturation': 0.02925925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 289.63308666157565, 'return': 6380.435445586997, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:11:59,855Z INFO episode phase=validation condition=speed_random0__-0.2000 seed=110000 metrics={'x_velocity': 10.44490794819936, 'y_velocity': 0.0, 'planar_speed': 10.44490794819936, 'height': 0.6826894764669507, 'yaw_rate': 0.0, 'effort': 0.5047231166230308, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.14207407834475, 'saturation': 0.04055555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 470.0208576689712, 'return': 9862.483712849158, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:00,756Z INFO episode phase=validation condition=speed_random0__-0.2000 seed=110005 metrics={'x_velocity': 4.478696579643539, 'y_velocity': 0.0, 'planar_speed': 4.484669029257793, 'height': 0.6212267536477608, 'yaw_rate': 0.0, 'effort': 0.2339602970952789, 'inversion': 0.014444444444444444, 'bad_contact': 0.55, 'reward': 4.338320401109045, 'saturation': 0.02185185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 201.54134608395927, 'return': 4646.306222299844, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:00,773Z INFO episode phase=validation condition=speed_random0__-0.2000 seed=110004 metrics={'x_velocity': 6.36967291718374, 'y_velocity': 0.0, 'planar_speed': 6.4258265755092046, 'height': 0.45098217996080275, 'yaw_rate': 0.0, 'effort': 0.3949147816395594, 'inversion': 0.5022222222222222, 'bad_contact': 0.23222222222222222, 'reward': 6.132724048412346, 'saturation': 0.027037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 286.63528127326833, 'return': 6304.619574007123, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:00,787Z INFO episode phase=validation condition=speed_random0__-0.2000 seed=110007 metrics={'x_velocity': 8.798990082917465, 'y_velocity': 0.0, 'planar_speed': 8.81356858433005, 'height': 0.5878987430140035, 'yaw_rate': 0.0, 'effort': 0.4624604519228968, 'inversion': 0.21333333333333335, 'bad_contact': 0.08777777777777777, 'reward': 8.521513811616785, 'saturation': 0.03611111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 395.9545537312859, 'return': 8516.125423871703, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:00,804Z INFO episode phase=validation condition=speed_random0__-0.2000 seed=110006 metrics={'x_velocity': 10.1135754054032, 'y_velocity': 0.0, 'planar_speed': 10.1135754054032, 'height': 0.6929163000611926, 'yaw_rate': 0.0, 'effort': 0.5134406864146391, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.805510993478254, 'saturation': 0.046481481481481485, 'length': 1000.0, 'failure': 0.0, 'distance': 455.110893243144, 'return': 9583.8987163626, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:01,675Z INFO episode phase=validation condition=speed_random0__-0.2000 seed=110008 metrics={'x_velocity': 1.0899314616053337, 'y_velocity': 0.0, 'planar_speed': 1.09729250960181, 'height': 0.5714547864302219, 'yaw_rate': 0.0, 'effort': 0.07072493705898523, 'inversion': 0.016666666666666666, 'bad_contact': 0.88, 'reward': 1.0474964993434517, 'saturation': 0.004629629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 49.04691577224002, 'return': 1733.7046769773456, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:01,692Z INFO episode phase=validation condition=speed_random0__-0.2000 seed=110009 metrics={'x_velocity': 8.515025842711616, 'y_velocity': 0.0, 'planar_speed': 8.565339464701381, 'height': 0.6130305301104712, 'yaw_rate': 0.0, 'effort': 0.5611534383520485, 'inversion': 0.0, 'bad_contact': 0.05555555555555555, 'reward': 8.178333779883342, 'saturation': 0.09814814814814816, 'length': 1000.0, 'failure': 0.0, 'distance': 383.17616292202274, 'return': 8142.248047630911, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:01,701Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': -0.2, 'effect': {'behavior': 'speed', 'effect': -10.658321785504992, 'ci95': [-12.71674811482625, -8.743994294829502], 'relative_effect': -0.6345947220495015, 'baseline_mean': 16.795478145614943, 'treated_mean': 6.13715636010995, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 6.13715636010995, 'effort': 0.3494556841423942, 'height': 0.5402691658482263, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.2371111111111111, 'bad_contact': 0.33777777777777773, 'planar_speed': 6.158719154843626, 'saturation': 0.03275925925925926, 'reward': 5.927482949643803, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.2371111111111111, 'bad_contact': 0.33777777777777773, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:02,659Z INFO episode phase=validation condition=speed_random0__-0.1000 seed=110000 metrics={'x_velocity': 3.4068320065925564, 'y_velocity': 0.0, 'planar_speed': 3.4168246651749925, 'height': 0.5841966940086409, 'yaw_rate': 0.0, 'effort': 0.14819879883693324, 'inversion': 0.028888888888888888, 'bad_contact': 0.7444444444444445, 'reward': 3.3179127273947047, 'saturation': 0.005925925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 153.30744029666502, 'return': 3720.7384969941168, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:02,676Z INFO episode phase=validation condition=speed_random0__-0.1000 seed=110002 metrics={'x_velocity': 15.503558112337474, 'y_velocity': 0.0, 'planar_speed': 15.503558112337474, 'height': 0.6315157528362675, 'yaw_rate': 0.0, 'effort': 0.5895902128269275, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.149803985156238, 'saturation': 0.01685185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 697.6601150551865, 'return': 14399.041838264413, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:02,694Z INFO episode phase=validation condition=speed_random0__-0.1000 seed=110003 metrics={'x_velocity': 15.637072674858485, 'y_velocity': 0.0, 'planar_speed': 15.637072674858485, 'height': 0.6309013764903824, 'yaw_rate': 0.0, 'effort': 0.5880687022540304, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.284231453300764, 'saturation': 0.01759259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 703.668270368632, 'return': 14590.580237045699, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:02,708Z INFO episode phase=validation condition=speed_random0__-0.1000 seed=110001 metrics={'x_velocity': 11.638105924719213, 'y_velocity': 0.0, 'planar_speed': 11.660671134020006, 'height': 0.5461537304997582, 'yaw_rate': 0.0, 'effort': 0.5147142299657894, 'inversion': 0.2688888888888889, 'bad_contact': 0.10222222222222223, 'reward': 11.329277386457031, 'saturation': 0.021296296296296292, 'length': 1000.0, 'failure': 0.0, 'distance': 523.7147666123645, 'return': 10879.212396942174, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:03,640Z INFO episode phase=validation condition=speed_random0__-0.1000 seed=110005 metrics={'x_velocity': 3.2968544445432504, 'y_velocity': 0.0, 'planar_speed': 3.305912724426955, 'height': 0.58412419560071, 'yaw_rate': 0.0, 'effort': 0.14930161437433626, 'inversion': 0.013333333333333334, 'bad_contact': 0.7444444444444445, 'reward': 3.2072734758569745, 'saturation': 0.004074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 148.35845000444627, 'return': 3628.363989572982, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:03,654Z INFO episode phase=validation condition=speed_random0__-0.1000 seed=110004 metrics={'x_velocity': 1.619396342464506, 'y_velocity': 0.0, 'planar_speed': 1.7184676648435473, 'height': 0.22374794916069915, 'yaw_rate': 0.0, 'effort': 0.2827020188131266, 'inversion': 0.9477777777777778, 'bad_contact': 0.4388888888888889, 'reward': 1.4497751311393772, 'saturation': 0.006666666666666665, 'length': 1000.0, 'failure': 0.0, 'distance': 72.87283541090277, 'return': 2089.9655484614514, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:03,669Z INFO episode phase=validation condition=speed_random0__-0.1000 seed=110006 metrics={'x_velocity': 15.206599380921022, 'y_velocity': 0.0, 'planar_speed': 15.206599380921022, 'height': 0.6381554104407681, 'yaw_rate': 0.0, 'effort': 0.5936045666535695, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.85043664092888, 'saturation': 0.01888888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 684.2969721414461, 'return': 14124.331799068164, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:03,686Z INFO episode phase=validation condition=speed_random0__-0.1000 seed=110007 metrics={'x_velocity': 14.131025724304196, 'y_velocity': 0.0, 'planar_speed': 14.131025724304196, 'height': 0.6560790046159847, 'yaw_rate': 0.0, 'effort': 0.5845957225064436, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.78026829058509, 'saturation': 0.02388888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 635.8961575936888, 'return': 13249.004454943179, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:04,560Z INFO episode phase=validation condition=speed_random0__-0.1000 seed=110009 metrics={'x_velocity': 5.227212832129852, 'y_velocity': 0.0, 'planar_speed': 5.2327800661722765, 'height': 0.5649450637099185, 'yaw_rate': 0.0, 'effort': 0.2248769098892808, 'inversion': 0.027777777777777776, 'bad_contact': 0.6088888888888889, 'reward': 5.092286686078731, 'saturation': 0.0077777777777777776, 'length': 1000.0, 'failure': 0.0, 'distance': 235.22457744584335, 'return': 5364.805663206761, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:04,577Z INFO episode phase=validation condition=speed_random0__-0.1000 seed=110008 metrics={'x_velocity': 15.661614214153904, 'y_velocity': 0.0, 'planar_speed': 15.661614214153904, 'height': 0.6295452970525646, 'yaw_rate': 0.0, 'effort': 0.5904534073173999, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.307342169760155, 'saturation': 0.01685185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 704.7726396369258, 'return': 14567.565780352377, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:04,584Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': -0.1, 'effect': {'behavior': 'speed', 'effect': -6.6626509799124936, 'ci95': [-10.281623652539176, -3.2437643727677723], 'relative_effect': -0.39669314098402225, 'baseline_mean': 16.795478145614943, 'treated_mean': 10.132827165702446, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.132827165702446, 'effort': 0.4266106183437836, 'height': 0.5689364474415693, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.12866666666666665, 'bad_contact': 0.26388888888888895, 'planar_speed': 10.147452636121285, 'saturation': 0.013981481481481478, 'reward': 9.876860794665795, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.12866666666666665, 'bad_contact': 0.26388888888888895, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:05,531Z INFO episode phase=validation condition=speed_random0__-0.0500 seed=110003 metrics={'x_velocity': 16.749866250866877, 'y_velocity': 0.0, 'planar_speed': 16.749866250866877, 'height': 0.6102842479148238, 'yaw_rate': 0.0, 'effort': 0.6329076303044955, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.37012167292922, 'saturation': 0.0007407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 753.7439812890094, 'return': 15567.881434711308, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:05,547Z INFO episode phase=validation condition=speed_random0__-0.0500 seed=110001 metrics={'x_velocity': 16.711883852413518, 'y_velocity': 0.0, 'planar_speed': 16.711883852413518, 'height': 0.6099683803587614, 'yaw_rate': 0.0, 'effort': 0.6335495485199822, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.33175412359293, 'saturation': 0.00037037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 752.0347733586084, 'return': 15381.441460364484, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:05,563Z INFO episode phase=validation condition=speed_random0__-0.0500 seed=110000 metrics={'x_velocity': 16.496428355057088, 'y_velocity': 0.0, 'planar_speed': 16.496428355057088, 'height': 0.6133481611908913, 'yaw_rate': 0.0, 'effort': 0.6348515645994081, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.11551741642328, 'saturation': 0.004074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 742.3392759775691, 'return': 15238.582717119834, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:05,579Z INFO episode phase=validation condition=speed_random0__-0.0500 seed=110002 metrics={'x_velocity': 16.706369257321796, 'y_velocity': 0.0, 'planar_speed': 16.706369257321796, 'height': 0.6099730997004944, 'yaw_rate': 0.0, 'effort': 0.6339169037342072, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.32601911521373, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 751.7866165794809, 'return': 15457.635455316155, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:06,479Z INFO episode phase=validation condition=speed_random0__-0.0500 seed=110004 metrics={'x_velocity': 16.74259855305662, 'y_velocity': 0.0, 'planar_speed': 16.74259855305662, 'height': 0.6100826832625939, 'yaw_rate': 0.0, 'effort': 0.6334077023797565, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.36255393132412, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 753.416934887548, 'return': 15511.466468627721, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:06,494Z INFO episode phase=validation condition=speed_random0__-0.0500 seed=110006 metrics={'x_velocity': 16.691198137183484, 'y_velocity': 0.0, 'planar_speed': 16.691198137183484, 'height': 0.6109232374611786, 'yaw_rate': 0.0, 'effort': 0.6332201739814547, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.311266032463475, 'saturation': 0.0018518518518518517, 'length': 1000.0, 'failure': 0.0, 'distance': 751.103916173257, 'return': 15439.078251449302, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:06,526Z INFO episode phase=validation condition=speed_random0__-0.0500 seed=110005 metrics={'x_velocity': 16.71385888300976, 'y_velocity': 0.0, 'planar_speed': 16.71385888300976, 'height': 0.6102145628054444, 'yaw_rate': 0.0, 'effort': 0.632988703250885, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.33406566116519, 'saturation': 0.0009259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 752.1236497354392, 'return': 15442.476956350378, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:06,558Z INFO episode phase=validation condition=speed_random0__-0.0500 seed=110007 metrics={'x_velocity': 16.631888542325093, 'y_velocity': 0.0, 'planar_speed': 16.631888542325093, 'height': 0.6110531185432746, 'yaw_rate': 0.0, 'effort': 0.6332517637809117, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.251937484652593, 'saturation': 0.0016666666666666668, 'length': 1000.0, 'failure': 0.0, 'distance': 748.4349844046292, 'return': 15473.50672960393, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:07,474Z INFO episode phase=validation condition=speed_random0__-0.0500 seed=110009 metrics={'x_velocity': 16.73277684484533, 'y_velocity': 0.0, 'planar_speed': 16.73277684484533, 'height': 0.6100306760163497, 'yaw_rate': 0.0, 'effort': 0.633668195605278, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.352575927468916, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 752.97495801804, 'return': 15499.06598045793, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:07,489Z INFO episode phase=validation condition=speed_random0__-0.0500 seed=110008 metrics={'x_velocity': 16.749733610691216, 'y_velocity': 0.0, 'planar_speed': 16.749733610691216, 'height': 0.6102813639336193, 'yaw_rate': 0.0, 'effort': 0.6327084808879428, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.370108522555817, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 753.7380124811048, 'return': 15524.055497868472, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:07,500Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': -0.05, 'effect': {'behavior': 'speed', 'effect': -0.10281791693786246, 'ci95': [-0.15058635878832582, -0.06669077026825639], 'relative_effect': -0.0061217618246079365, 'baseline_mean': 16.795478145614943, 'treated_mean': 16.692660228677077, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.692660228677077, 'effort': 0.6334470667044322, 'height': 0.6106159531187431, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.692660228677077, 'saturation': 0.000962962962962963, 'reward': 16.312591988778927, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:08,614Z INFO episode phase=validation condition=speed_random0__+0.0500 seed=110000 metrics={'x_velocity': 16.0102749441142, 'y_velocity': 0.0, 'planar_speed': 16.0102749441142, 'height': 0.5968692406199188, 'yaw_rate': 0.0, 'effort': 0.6993287827240097, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.590677674711591, 'saturation': 0.02333333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 720.462372485139, 'return': 14766.226949579315, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:08,630Z INFO episode phase=validation condition=speed_random0__+0.0500 seed=110002 metrics={'x_velocity': 15.550128311365574, 'y_velocity': 0.0, 'planar_speed': 15.550128311365574, 'height': 0.6044029739551143, 'yaw_rate': 0.0, 'effort': 0.6893931828770372, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.136492401834722, 'saturation': 0.03037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 699.7557740114509, 'return': 14387.061413275049, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:08,644Z INFO episode phase=validation condition=speed_random0__+0.0500 seed=110003 metrics={'x_velocity': 15.809101506563513, 'y_velocity': 0.0, 'planar_speed': 15.809101506563513, 'height': 0.5999121184805356, 'yaw_rate': 0.0, 'effort': 0.6872120686040984, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.396774265195747, 'saturation': 0.027777777777777776, 'length': 1000.0, 'failure': 0.0, 'distance': 711.4095677953582, 'return': 14691.868767751183, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:08,659Z INFO episode phase=validation condition=speed_random0__+0.0500 seed=110001 metrics={'x_velocity': 15.497204442849165, 'y_velocity': 0.0, 'planar_speed': 15.497204442849165, 'height': 0.6047178199888944, 'yaw_rate': 0.0, 'effort': 0.683703475760089, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.086982357426225, 'saturation': 0.03574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 697.3741999282124, 'return': 14261.14687081445, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:09,555Z INFO episode phase=validation condition=speed_random0__+0.0500 seed=110004 metrics={'x_velocity': 16.20081177963381, 'y_velocity': 0.0, 'planar_speed': 16.20081177963381, 'height': 0.5927171752992965, 'yaw_rate': 0.0, 'effort': 0.6977043620083068, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.782189161726816, 'saturation': 0.023333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 729.0365300835215, 'return': 14989.138175990145, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:09,571Z INFO episode phase=validation condition=speed_random0__+0.0500 seed=110005 metrics={'x_velocity': 15.645337424505701, 'y_velocity': 0.0, 'planar_speed': 15.645337424505701, 'height': 0.6002284892785762, 'yaw_rate': 0.0, 'effort': 0.6876397900117768, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.232753550134383, 'saturation': 0.03148148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 704.0401841027566, 'return': 14451.29605642265, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:09,587Z INFO episode phase=validation condition=speed_random0__+0.0500 seed=110006 metrics={'x_velocity': 14.716916583858563, 'y_velocity': 0.0, 'planar_speed': 14.716916583858563, 'height': 0.6204759800635947, 'yaw_rate': 0.0, 'effort': 0.6867119964957237, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.30488938567635, 'saturation': 0.04907407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 662.2612462736354, 'return': 13633.339269340886, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:09,602Z INFO episode phase=validation condition=speed_random0__+0.0500 seed=110007 metrics={'x_velocity': 16.205450227476057, 'y_velocity': 0.0, 'planar_speed': 16.205450227476057, 'height': 0.5921138137244369, 'yaw_rate': 0.0, 'effort': 0.6974912086129188, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.786955502116244, 'saturation': 0.017222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 729.2452602364225, 'return': 15055.022945321216, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:10,459Z INFO episode phase=validation condition=speed_random0__+0.0500 seed=110008 metrics={'x_velocity': 15.259663277092043, 'y_velocity': 0.0, 'planar_speed': 15.259663277092043, 'height': 0.6108127838759727, 'yaw_rate': 0.0, 'effort': 0.6839145388536984, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.849314553799692, 'saturation': 0.04240740740740741, 'length': 1000.0, 'failure': 0.0, 'distance': 686.6848474691419, 'return': 14155.340925987959, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:10,496Z INFO episode phase=validation condition=speed_random0__+0.0500 seed=110009 metrics={'x_velocity': 15.927884463898376, 'y_velocity': 0.0, 'planar_speed': 15.927884463898376, 'height': 0.5963718443180609, 'yaw_rate': 0.0, 'effort': 0.6934249740507867, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.511829479938118, 'saturation': 0.02722222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 716.754800875427, 'return': 14742.39417768021, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:10,504Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': 0.05, 'effect': {'behavior': 'speed', 'effect': -1.1132008494792403, 'ci95': [-1.391298214882759, -0.8553999354419457], 'relative_effect': -0.0662797950631659, 'baseline_mean': 16.795478145614943, 'treated_mean': 15.6822772961357, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.6822772961357, 'effort': 0.6906524379998445, 'height': 0.6018622239604402, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 15.6822772961357, 'saturation': 0.030796296296296294, 'reward': 15.267885833255988, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:11,447Z INFO episode phase=validation condition=speed_random0__+0.1000 seed=110003 metrics={'x_velocity': 7.045098125332212, 'y_velocity': 0.0, 'planar_speed': 7.058171881632911, 'height': 0.6183310125986716, 'yaw_rate': 0.0, 'effort': 0.3685225633987122, 'inversion': 0.014444444444444444, 'bad_contact': 0.43555555555555553, 'reward': 6.823984587265252, 'saturation': 0.05203703703703704, 'length': 1000.0, 'failure': 0.0, 'distance': 317.02941563994955, 'return': 6976.358057613737, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:11,461Z INFO episode phase=validation condition=speed_random0__+0.1000 seed=110002 metrics={'x_velocity': 13.19740595290896, 'y_velocity': 0.0, 'planar_speed': 13.19740595290896, 'height': 0.6384171687637027, 'yaw_rate': 0.0, 'effort': 0.6856384217407968, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.786022900155885, 'saturation': 0.09629629629629628, 'length': 1000.0, 'failure': 0.0, 'distance': 593.8832678809033, 'return': 12271.638861764095, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:11,476Z INFO episode phase=validation condition=speed_random0__+0.1000 seed=110000 metrics={'x_velocity': 13.41069986271365, 'y_velocity': 0.0, 'planar_speed': 13.41069986271365, 'height': 0.6386327921983043, 'yaw_rate': 0.0, 'effort': 0.6847685906208224, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.999838708157377, 'saturation': 0.08629629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 603.4814938221143, 'return': 12434.471879680525, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:11,493Z INFO episode phase=validation condition=speed_random0__+0.1000 seed=110001 metrics={'x_velocity': 13.340654846835562, 'y_velocity': 0.0, 'planar_speed': 13.340654846835562, 'height': 0.638974510001438, 'yaw_rate': 0.0, 'effort': 0.6841512219773398, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.930164113039869, 'saturation': 0.08481481481481482, 'length': 1000.0, 'failure': 0.0, 'distance': 600.3294681076003, 'return': 12320.010450866726, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:12,381Z INFO episode phase=validation condition=speed_random0__+0.1000 seed=110005 metrics={'x_velocity': 12.998935313639612, 'y_velocity': 0.0, 'planar_speed': 12.998935313639612, 'height': 0.6526401397520529, 'yaw_rate': 0.0, 'effort': 0.6895598540372319, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.585199400866268, 'saturation': 0.10277777777777777, 'length': 1000.0, 'failure': 0.0, 'distance': 584.9520891137826, 'return': 12068.497322081344, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:12,395Z INFO episode phase=validation condition=speed_random0__+0.1000 seed=110004 metrics={'x_velocity': 13.085716023625311, 'y_velocity': 0.0, 'planar_speed': 13.085716023625311, 'height': 0.6433004144630404, 'yaw_rate': 0.0, 'effort': 0.6910455295112398, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.671088705746376, 'saturation': 0.09111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 588.857221063139, 'return': 12189.147765607748, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:12,412Z INFO episode phase=validation condition=speed_random0__+0.1000 seed=110006 metrics={'x_velocity': 13.073175989645453, 'y_velocity': 0.0, 'planar_speed': 13.073175989645453, 'height': 0.6427268650240259, 'yaw_rate': 0.0, 'effort': 0.6856786731878917, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.661768785057196, 'saturation': 0.09740740740740741, 'length': 1000.0, 'failure': 0.0, 'distance': 588.2929195340454, 'return': 12154.53072878365, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:12,426Z INFO episode phase=validation condition=speed_random0__+0.1000 seed=110007 metrics={'x_velocity': 13.453223671612738, 'y_velocity': 0.0, 'planar_speed': 13.453223671612738, 'height': 0.6398533302283164, 'yaw_rate': 0.0, 'effort': 0.6843255904979176, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.042628316989475, 'saturation': 0.09111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 605.3950652225733, 'return': 12585.128478707124, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:13,301Z INFO episode phase=validation condition=speed_random0__+0.1000 seed=110009 metrics={'x_velocity': 13.707946355161724, 'y_velocity': 0.0, 'planar_speed': 13.707946355161724, 'height': 0.6389922844312489, 'yaw_rate': 0.0, 'effort': 0.685454915728834, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.296673406207884, 'saturation': 0.08407407407407406, 'length': 1000.0, 'failure': 0.0, 'distance': 616.8575859822777, 'return': 12748.753711323, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:13,316Z INFO episode phase=validation condition=speed_random0__+0.1000 seed=110008 metrics={'x_velocity': 13.310925259573033, 'y_velocity': 0.0, 'planar_speed': 13.310925259573033, 'height': 0.6439526102866769, 'yaw_rate': 0.0, 'effort': 0.6828517489300834, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.901214210440157, 'saturation': 0.0824074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 598.9916366807864, 'return': 12402.050616964378, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:13,324Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': 0.1, 'effect': {'behavior': 'speed', 'effect': -4.133100005510114, 'ci95': [-5.425516815752882, -3.410051186302401], 'relative_effect': -0.24608409297291764, 'baseline_mean': 16.795478145614943, 'treated_mean': 12.662378140104824, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.662378140104824, 'effort': 0.654199710963087, 'height': 0.6395821127747479, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0014444444444444444, 'bad_contact': 0.043555555555555556, 'planar_speed': 12.663685515734896, 'saturation': 0.08683333333333333, 'reward': 12.269858313392573, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0014444444444444444, 'bad_contact': 0.043555555555555556, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:14,263Z INFO episode phase=validation condition=speed_random0__+0.2000 seed=110002 metrics={'x_velocity': 10.482308775585077, 'y_velocity': 0.0, 'planar_speed': 10.482308775585077, 'height': 0.6465726940928997, 'yaw_rate': 0.0, 'effort': 0.7140010233720143, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 10.053908161429414, 'saturation': 0.2001851851851852, 'length': 1000.0, 'failure': 0.0, 'distance': 471.7038949013285, 'return': 9812.735596910272, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:14,279Z INFO episode phase=validation condition=speed_random0__+0.2000 seed=110000 metrics={'x_velocity': 10.325663943050841, 'y_velocity': 0.0, 'planar_speed': 10.325663943050841, 'height': 0.6486514154955975, 'yaw_rate': 0.0, 'effort': 0.709557670470741, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.899929340851182, 'saturation': 0.19944444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 464.65487743728795, 'return': 9644.553449104948, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:14,295Z INFO episode phase=validation condition=speed_random0__+0.2000 seed=110003 metrics={'x_velocity': 10.89846800311357, 'y_velocity': 0.0, 'planar_speed': 10.89846800311357, 'height': 0.6635910501473201, 'yaw_rate': 0.0, 'effort': 0.7176348807414373, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.467887075238263, 'saturation': 0.20833333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 490.4310601401107, 'return': 10255.870296789446, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:14,310Z INFO episode phase=validation condition=speed_random0__+0.2000 seed=110001 metrics={'x_velocity': 10.179668334355709, 'y_velocity': 0.0, 'planar_speed': 10.179668334355709, 'height': 0.6546183212889423, 'yaw_rate': 0.0, 'effort': 0.7103831497828166, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.753438444644965, 'saturation': 0.20333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 458.085075046007, 'return': 9460.957349311315, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:15,213Z INFO episode phase=validation condition=speed_random0__+0.2000 seed=110007 metrics={'x_velocity': 10.686647387126923, 'y_velocity': 0.0, 'planar_speed': 10.686647387126923, 'height': 0.6463879906105268, 'yaw_rate': 0.0, 'effort': 0.7072582531803184, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.262292435215418, 'saturation': 0.19074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 480.89913242071157, 'return': 10082.826185110473, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:15,228Z INFO episode phase=validation condition=speed_random0__+0.2000 seed=110004 metrics={'x_velocity': 10.344854381432425, 'y_velocity': 0.0, 'planar_speed': 10.344854381432425, 'height': 0.6512895639845797, 'yaw_rate': 0.0, 'effort': 0.7065405260192024, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.920930065489767, 'saturation': 0.20351851851851852, 'length': 1000.0, 'failure': 0.0, 'distance': 465.51844716445913, 'return': 9714.004989376801, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:15,244Z INFO episode phase=validation condition=speed_random0__+0.2000 seed=110006 metrics={'x_velocity': 11.012832766019969, 'y_velocity': 0.0, 'planar_speed': 11.012832766019969, 'height': 0.6424891898450158, 'yaw_rate': 0.0, 'effort': 0.7133859909408622, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.584801171505122, 'saturation': 0.19944444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 495.5774744708986, 'return': 10285.25987658678, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:15,258Z INFO episode phase=validation condition=speed_random0__+0.2000 seed=110005 metrics={'x_velocity': 10.280155237256286, 'y_velocity': 0.0, 'planar_speed': 10.280155237256286, 'height': 0.6555007981354657, 'yaw_rate': 0.0, 'effort': 0.7104467334184381, 'inversion': 0.0011111111111111111, 'bad_contact': 0.0, 'reward': 9.853887197274762, 'saturation': 0.19611111111111112, 'length': 1000.0, 'failure': 0.0, 'distance': 462.60698567653293, 'return': 9610.316338848992, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:16,136Z INFO episode phase=validation condition=speed_random0__+0.2000 seed=110009 metrics={'x_velocity': 10.658108807552615, 'y_velocity': 0.0, 'planar_speed': 10.658108807552615, 'height': 0.6448109700844836, 'yaw_rate': 0.0, 'effort': 0.7143562213745382, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.229495074910016, 'saturation': 0.19351851851851848, 'length': 1000.0, 'failure': 0.0, 'distance': 479.6148963398677, 'return': 9988.293213154919, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:16,149Z INFO episode phase=validation condition=speed_random0__+0.2000 seed=110008 metrics={'x_velocity': 10.740481036380503, 'y_velocity': 0.0, 'planar_speed': 10.740481036380503, 'height': 0.6601673387568758, 'yaw_rate': 0.0, 'effort': 0.7010175598329967, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.319870500904562, 'saturation': 0.17925925925925923, 'length': 1000.0, 'failure': 0.0, 'distance': 483.3216466371227, 'return': 10078.841278382344, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:16,157Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': 0.2, 'effect': {'behavior': 'speed', 'effect': -6.2345592784275485, 'ci95': [-6.393097425690517, -6.077560867451891], 'relative_effect': -0.3712046316499362, 'baseline_mean': 16.795478145614943, 'treated_mean': 10.560918867187391, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.560918867187391, 'effort': 0.7104582009133364, 'height': 0.6514079332441707, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.00011111111111111112, 'bad_contact': 0.00011111111111111112, 'planar_speed': 10.560918867187391, 'saturation': 0.1973888888888889, 'reward': 10.134643946746348, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.00011111111111111112, 'bad_contact': 0.00011111111111111112, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:17,113Z INFO episode phase=validation condition=speed_random0__+0.5000 seed=110002 metrics={'x_velocity': 1.2261050275543393, 'y_velocity': 0.0, 'planar_speed': 1.3458710682802373, 'height': 0.2021850794946162, 'yaw_rate': 0.0, 'effort': 0.2604064647843026, 'inversion': 0.9688888888888889, 'bad_contact': 0.4988888888888889, 'reward': 1.0698611486732028, 'saturation': 0.013888888888888888, 'length': 1000.0, 'failure': 0.0, 'distance': 55.17472623994527, 'return': 1727.0932854296816, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:17,129Z INFO episode phase=validation condition=speed_random0__+0.5000 seed=110003 metrics={'x_velocity': 0.7960315635643557, 'y_velocity': 0.0, 'planar_speed': 0.797011152430158, 'height': 0.6068481301312686, 'yaw_rate': 0.0, 'effort': 0.861887750228246, 'inversion': 0.0011111111111111111, 'bad_contact': 0.8866666666666667, 'reward': 0.27889891477844636, 'saturation': 0.3507407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 35.82142036039601, 'return': 1085.780952375612, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:17,160Z INFO episode phase=validation condition=speed_random0__+0.5000 seed=110000 metrics={'x_velocity': 5.973884393824082, 'y_velocity': 0.0, 'planar_speed': 5.973884393824082, 'height': 0.634519213503206, 'yaw_rate': 0.0, 'effort': 0.7696849973665343, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 5.512073395781656, 'saturation': 0.3761111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 268.8247977220837, 'return': 5695.483098542376, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:17,176Z INFO episode phase=validation condition=speed_random0__+0.5000 seed=110001 metrics={'x_velocity': 2.4960204896396334, 'y_velocity': 0.0, 'planar_speed': 2.5773512939593872, 'height': 0.3568806361872905, 'yaw_rate': 0.0, 'effort': 0.4404839225579053, 'inversion': 0.6188888888888889, 'bad_contact': 0.36777777777777776, 'reward': 2.231730136188295, 'saturation': 0.14537037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 112.3209220337835, 'return': 2691.419871700312, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:18,069Z INFO episode phase=validation condition=speed_random0__+0.5000 seed=110004 metrics={'x_velocity': 5.907973114574418, 'y_velocity': 0.0, 'planar_speed': 5.907973114574418, 'height': 0.6246900391116813, 'yaw_rate': 0.0, 'effort': 0.7663144273559253, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 5.448184458485376, 'saturation': 0.38407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 265.8587901558488, 'return': 5688.533943072851, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:18,086Z INFO episode phase=validation condition=speed_random0__+0.5000 seed=110005 metrics={'x_velocity': 5.752200284515682, 'y_velocity': 0.0, 'planar_speed': 5.752200284515682, 'height': 0.6187267969173164, 'yaw_rate': 0.0, 'effort': 0.7659140504731072, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 5.292651854894092, 'saturation': 0.3742592592592593, 'length': 1000.0, 'failure': 0.0, 'distance': 258.8490128032057, 'return': 5505.204530706387, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:18,103Z INFO episode phase=validation condition=speed_random0__+0.5000 seed=110006 metrics={'x_velocity': 1.67737441860427, 'y_velocity': 0.0, 'planar_speed': 1.7962653676076898, 'height': 0.24016865503594065, 'yaw_rate': 0.0, 'effort': 0.30233389815522566, 'inversion': 0.8755555555555555, 'bad_contact': 0.4866666666666667, 'reward': 1.4959740796391126, 'saturation': 0.0524074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 75.48184883719215, 'return': 2105.315493907374, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:18,117Z INFO episode phase=validation condition=speed_random0__+0.5000 seed=110007 metrics={'x_velocity': 5.989611970042141, 'y_velocity': 0.0, 'planar_speed': 5.989611970042141, 'height': 0.6312403035088954, 'yaw_rate': 0.0, 'effort': 0.76751189796461, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 5.529104831326292, 'saturation': 0.3788888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 269.53253865189635, 'return': 5822.9573416102585, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:18,961Z INFO episode phase=validation condition=speed_random0__+0.5000 seed=110008 metrics={'x_velocity': 0.6925262038477619, 'y_velocity': 0.0, 'planar_speed': 0.712884737436043, 'height': 0.18185219476443185, 'yaw_rate': 0.0, 'effort': 0.0545757242017943, 'inversion': 0.97, 'bad_contact': 0.9177777777777778, 'reward': 0.6597807694882181, 'saturation': 0.009629629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 31.163679173149287, 'return': 1384.760520107635, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:18,985Z INFO episode phase=validation condition=speed_random0__+0.5000 seed=110009 metrics={'x_velocity': 2.512607450413543, 'y_velocity': 0.0, 'planar_speed': 2.602663998756086, 'height': 0.30048199950749904, 'yaw_rate': 0.0, 'effort': 0.39111448059272436, 'inversion': 0.7177777777777777, 'bad_contact': 0.3611111111111111, 'reward': 2.277938761727185, 'saturation': 0.11148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 113.06733526860944, 'return': 2831.8925312903702, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:18,995Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': 0.5, 'effect': {'behavior': 'speed', 'effect': -13.493044653956918, 'ci95': [-14.765558043832394, -12.014536643883073], 'relative_effect': -0.8033736543237239, 'baseline_mean': 16.795478145614943, 'treated_mean': 3.302433491658023, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 3.302433491658023, 'effort': 0.5380227613680375, 'height': 0.4397593048162146, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.41522222222222227, 'bad_contact': 0.3518888888888889, 'planar_speed': 3.345571738142593, 'saturation': 0.21968518518518515, 'reward': 2.979619835098188, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.41522222222222227, 'bad_contact': 0.3518888888888889, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:19,958Z INFO episode phase=validation condition=speed_random1__-0.5000 seed=110000 metrics={'x_velocity': 3.1407476179736697, 'y_velocity': 0.0, 'planar_speed': 3.424587880824398, 'height': 0.5865846266879893, 'yaw_rate': 0.0, 'effort': 0.7185690992905034, 'inversion': 0.0, 'bad_contact': 0.022222222222222223, 'reward': 2.709606158972235, 'saturation': 0.32240740740740736, 'length': 1000.0, 'failure': 0.0, 'distance': 141.33364280881514, 'return': 3173.262585413894, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:19,974Z INFO episode phase=validation condition=speed_random1__-0.5000 seed=110002 metrics={'x_velocity': 2.519010902435101, 'y_velocity': 0.0, 'planar_speed': 2.791448835101464, 'height': 0.5822990611089884, 'yaw_rate': 0.0, 'effort': 0.7244109480828047, 'inversion': 0.0, 'bad_contact': 0.013333333333333334, 'reward': 2.084364333381769, 'saturation': 0.3231481481481482, 'length': 1000.0, 'failure': 0.0, 'distance': 113.35549060957956, 'return': 2640.146151667392, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:19,990Z INFO episode phase=validation condition=speed_random1__-0.5000 seed=110003 metrics={'x_velocity': 4.3312359078701315, 'y_velocity': 0.0, 'planar_speed': 4.474294621480082, 'height': 0.6105305195135593, 'yaw_rate': 0.0, 'effort': 0.7271089664101601, 'inversion': 0.0, 'bad_contact': 0.008888888888888889, 'reward': 3.8949705283551723, 'saturation': 0.32240740740740736, 'length': 1000.0, 'failure': 0.0, 'distance': 194.90561585415594, 'return': 4340.245404594666, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:20,005Z INFO episode phase=validation condition=speed_random1__-0.5000 seed=110001 metrics={'x_velocity': 2.0978564338218906, 'y_velocity': 0.0, 'planar_speed': 2.435225560490774, 'height': 0.5426564798228317, 'yaw_rate': 0.0, 'effort': 0.7301290212737189, 'inversion': 0.0, 'bad_contact': 0.03, 'reward': 1.6597790205145948, 'saturation': 0.3427777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 94.40353952198507, 'return': 2176.663867593981, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:20,897Z INFO episode phase=validation condition=speed_random1__-0.5000 seed=110006 metrics={'x_velocity': 0.5848187936263571, 'y_velocity': 0.0, 'planar_speed': 0.5848551845575705, 'height': 0.14795926197487996, 'yaw_rate': 0.0, 'effort': 0.9954846786790424, 'inversion': 0.9811111111111112, 'bad_contact': 0.9344444444444444, 'reward': -0.012472013700277607, 'saturation': 0.9894444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 26.31684571318607, 'return': 747.7140099019227, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:20,921Z INFO episode phase=validation condition=speed_random1__-0.5000 seed=110004 metrics={'x_velocity': 1.1686601855787706, 'y_velocity': 0.0, 'planar_speed': 1.1771366856395222, 'height': 0.32497820472034467, 'yaw_rate': 0.0, 'effort': 0.8561895783411132, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 0.6549464387065572, 'saturation': 0.747037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 52.589708351044685, 'return': 1374.619725271914, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:20,936Z INFO episode phase=validation condition=speed_random1__-0.5000 seed=110005 metrics={'x_velocity': 1.4356780324026697, 'y_velocity': 0.0, 'planar_speed': 1.6544463722123912, 'height': 0.4448618410118541, 'yaw_rate': 0.0, 'effort': 0.7789543808831109, 'inversion': 0.0, 'bad_contact': 0.015555555555555555, 'reward': 0.9683054036873661, 'saturation': 0.5140740740740741, 'length': 1000.0, 'failure': 0.0, 'distance': 64.60551145812013, 'return': 1613.2927246203346, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:20,952Z INFO episode phase=validation condition=speed_random1__-0.5000 seed=110007 metrics={'x_velocity': 2.9189398719480253, 'y_velocity': 0.0, 'planar_speed': 3.16171012713166, 'height': 0.5711650742661131, 'yaw_rate': 0.0, 'effort': 0.7239823383258449, 'inversion': 0.0, 'bad_contact': 0.03222222222222222, 'reward': 2.484550469359817, 'saturation': 0.3262962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 131.35229423766114, 'return': 3082.8584158404315, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:21,811Z INFO episode phase=validation condition=speed_random1__-0.5000 seed=110008 metrics={'x_velocity': 1.55697728536836, 'y_velocity': 0.0, 'planar_speed': 1.6958779741826364, 'height': 0.2283292876745161, 'yaw_rate': 0.0, 'effort': 0.3721722262311313, 'inversion': 0.9133333333333333, 'bad_contact': 0.4766666666666667, 'reward': 1.333673949738129, 'saturation': 0.03944444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 70.0639778415762, 'return': 1991.264382332555, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:21,868Z INFO episode phase=validation condition=speed_random1__-0.5000 seed=110009 metrics={'x_velocity': 1.0547562515141427, 'y_velocity': 0.0, 'planar_speed': 1.0591108848079192, 'height': 0.33900663296139216, 'yaw_rate': 0.0, 'effort': 0.8636904421779844, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 0.5365419856113054, 'saturation': 0.7438888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 47.46403131813642, 'return': 1264.6354327860786, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:21,877Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': -0.5, 'effect': {'behavior': 'speed', 'effect': -14.71461001736103, 'ci95': [-15.371033441425084, -14.04616812093936], 'relative_effect': -0.8761054546817295, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.080868128253912, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.080868128253912, 'effort': 0.7490691679695415, 'height': 0.4378370989742469, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.18944444444444444, 'bad_contact': 0.15355555555555558, 'planar_speed': 2.2458694126428416, 'saturation': 0.46709259259259256, 'reward': 1.6314266274626668, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.18944444444444444, 'bad_contact': 0.15355555555555558, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:22,808Z INFO episode phase=validation condition=speed_random1__-0.2000 seed=110002 metrics={'x_velocity': 3.114877563714484, 'y_velocity': 0.0, 'planar_speed': 3.1149220945964005, 'height': 0.2617703661032025, 'yaw_rate': 0.0, 'effort': 0.9385018252167436, 'inversion': 0.7788888888888889, 'bad_contact': 0.7266666666666667, 'reward': 2.5517764684354267, 'saturation': 0.8205555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 140.16949036715178, 'return': 3060.8170732156836, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:22,837Z INFO episode phase=validation condition=speed_random1__-0.2000 seed=110003 metrics={'x_velocity': 11.411708220110873, 'y_velocity': 0.0, 'planar_speed': 11.411708220110873, 'height': 0.6724576675101847, 'yaw_rate': 0.0, 'effort': 0.7092714969482686, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.986145321713428, 'saturation': 0.1827777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 513.5268699049892, 'return': 10722.302718617095, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:22,858Z INFO episode phase=validation condition=speed_random1__-0.2000 seed=110000 metrics={'x_velocity': 3.430352629371942, 'y_velocity': 0.0, 'planar_speed': 3.436133963385816, 'height': 0.5504666081010225, 'yaw_rate': 0.0, 'effort': 0.20638203642848466, 'inversion': 0.014444444444444444, 'bad_contact': 0.7033333333333334, 'reward': 3.3065234073467993, 'saturation': 0.04703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 154.3658683217374, 'return': 3710.4881089510022, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:22,871Z INFO episode phase=validation condition=speed_random1__-0.2000 seed=110001 metrics={'x_velocity': 9.295214779501512, 'y_velocity': 0.0, 'planar_speed': 9.30080132763444, 'height': 0.6194645898669601, 'yaw_rate': 0.0, 'effort': 0.5535633368914326, 'inversion': 0.013333333333333334, 'bad_contact': 0.19333333333333333, 'reward': 8.963076776738317, 'saturation': 0.13962962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 418.28466507756804, 'return': 8749.631848195333, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:23,763Z INFO episode phase=validation condition=speed_random1__-0.2000 seed=110006 metrics={'x_velocity': 11.670780614481888, 'y_velocity': 0.0, 'planar_speed': 11.670780614481888, 'height': 0.6800587486144648, 'yaw_rate': 0.0, 'effort': 0.706947918302483, 'inversion': 0.04666666666666667, 'bad_contact': 0.005555555555555556, 'reward': 11.246611863215621, 'saturation': 0.19814814814814813, 'length': 1000.0, 'failure': 0.0, 'distance': 525.185127651685, 'return': 10880.889499126231, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:23,779Z INFO episode phase=validation condition=speed_random1__-0.2000 seed=110005 metrics={'x_velocity': 8.473386542600581, 'y_velocity': 0.0, 'planar_speed': 8.483660822189329, 'height': 0.6217883295233404, 'yaw_rate': 0.0, 'effort': 0.5059486960516207, 'inversion': 0.015555555555555555, 'bad_contact': 0.25666666666666665, 'reward': 8.169817324910417, 'saturation': 0.12944444444444442, 'length': 1000.0, 'failure': 0.0, 'distance': 381.3023944170261, 'return': 8094.653453721079, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:23,794Z INFO episode phase=validation condition=speed_random1__-0.2000 seed=110004 metrics={'x_velocity': 11.440735347234181, 'y_velocity': 0.0, 'planar_speed': 11.440735347234181, 'height': 0.6613737765774191, 'yaw_rate': 0.0, 'effort': 0.6860165284118719, 'inversion': 0.008888888888888889, 'bad_contact': 0.006666666666666667, 'reward': 11.029125430216032, 'saturation': 0.16666666666666666, 'length': 1000.0, 'failure': 0.0, 'distance': 514.8330906255381, 'return': 10711.380817630443, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:23,808Z INFO episode phase=validation condition=speed_random1__-0.2000 seed=110007 metrics={'x_velocity': 11.542403507049496, 'y_velocity': 0.0, 'planar_speed': 11.542403507049496, 'height': 0.6666198063735572, 'yaw_rate': 0.0, 'effort': 0.7046869492696392, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 11.11959133752414, 'saturation': 0.1740740740740741, 'length': 1000.0, 'failure': 0.0, 'distance': 519.4081578172273, 'return': 10854.395197188322, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:24,687Z INFO episode phase=validation condition=speed_random1__-0.2000 seed=110008 metrics={'x_velocity': 4.5062328009324375, 'y_velocity': 0.0, 'planar_speed': 4.515048047542057, 'height': 0.5663943844776178, 'yaw_rate': 0.0, 'effort': 0.27717950109392403, 'inversion': 0.014444444444444444, 'bad_contact': 0.6011111111111112, 'reward': 4.339925100030213, 'saturation': 0.06648148148148149, 'length': 1000.0, 'failure': 0.0, 'distance': 202.78047604195967, 'return': 4696.890417595431, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:24,703Z INFO episode phase=validation condition=speed_random1__-0.2000 seed=110009 metrics={'x_velocity': 4.679864181277607, 'y_velocity': 0.0, 'planar_speed': 4.688462069510219, 'height': 0.5646369985755346, 'yaw_rate': 0.0, 'effort': 0.28433446248372396, 'inversion': 0.01888888888888889, 'bad_contact': 0.58, 'reward': 4.509263503582069, 'saturation': 0.06703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 210.59388815749236, 'return': 4840.084798959766, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:24,718Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': -0.2, 'effect': {'behavior': 'speed', 'effect': -8.838922526987439, 'ci95': [-10.887827776044832, -6.789203667385602], 'relative_effect': -0.5262679901313291, 'baseline_mean': 16.795478145614943, 'treated_mean': 7.9565556186275, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 7.9565556186275, 'effort': 0.5572832751098191, 'height': 0.5865031275723304, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09111111111111111, 'bad_contact': 0.3076666666666667, 'planar_speed': 7.960465601373469, 'saturation': 0.1991851851851852, 'reward': 7.622185653371247, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09111111111111111, 'bad_contact': 0.3076666666666667, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:25,664Z INFO episode phase=validation condition=speed_random1__-0.1000 seed=110000 metrics={'x_velocity': 3.1300988921405533, 'y_velocity': 0.0, 'planar_speed': 3.1301501481882714, 'height': 0.23802890526170908, 'yaw_rate': 0.0, 'effort': 0.9479635228382216, 'inversion': 0.8144444444444444, 'bad_contact': 0.7611111111111111, 'reward': 2.5613207784574885, 'saturation': 0.8422222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 140.8544501463249, 'return': 3039.805742950623, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:25,684Z INFO episode phase=validation condition=speed_random1__-0.1000 seed=110002 metrics={'x_velocity': 11.875772615410412, 'y_velocity': 0.0, 'planar_speed': 11.882192934654986, 'height': 0.6716975872017653, 'yaw_rate': 0.0, 'effort': 0.6487557776292993, 'inversion': 0.014444444444444444, 'bad_contact': 0.043333333333333335, 'reward': 11.486519148949144, 'saturation': 0.12111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 534.4097676934686, 'return': 11102.085485678028, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:25,705Z INFO episode phase=validation condition=speed_random1__-0.1000 seed=110001 metrics={'x_velocity': 13.487472700738145, 'y_velocity': 0.0, 'planar_speed': 13.487472700738145, 'height': 0.6595800010780113, 'yaw_rate': 0.0, 'effort': 0.6995447298222118, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 13.067745862798459, 'saturation': 0.11444444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 606.9362715332165, 'return': 12443.834025649458, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:25,721Z INFO episode phase=validation condition=speed_random1__-0.1000 seed=110003 metrics={'x_velocity': 12.716337733369954, 'y_velocity': 0.0, 'planar_speed': 12.730362999922082, 'height': 0.6289473826757214, 'yaw_rate': 0.0, 'effort': 0.7097182051837444, 'inversion': 0.0, 'bad_contact': 0.0044444444444444444, 'reward': 12.290506810567665, 'saturation': 0.14592592592592593, 'length': 1000.0, 'failure': 0.0, 'distance': 572.235198001648, 'return': 11896.228058585908, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:26,608Z INFO episode phase=validation condition=speed_random1__-0.1000 seed=110004 metrics={'x_velocity': 3.2042499252555996, 'y_velocity': 0.0, 'planar_speed': 3.2144891333203214, 'height': 0.5970791527090726, 'yaw_rate': 0.0, 'effort': 0.2069275727516247, 'inversion': 0.015555555555555555, 'bad_contact': 0.6855555555555556, 'reward': 3.0800933814734117, 'saturation': 0.042222222222222223, 'length': 1000.0, 'failure': 0.0, 'distance': 144.19124663650197, 'return': 3557.251973762083, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:26,631Z INFO episode phase=validation condition=speed_random1__-0.1000 seed=110005 metrics={'x_velocity': 7.863193443542244, 'y_velocity': 0.0, 'planar_speed': 7.867670737320133, 'height': 0.5872721892228754, 'yaw_rate': 0.0, 'effort': 0.41022680888573326, 'inversion': 0.02666666666666667, 'bad_contact': 0.3977777777777778, 'reward': 7.617057358647077, 'saturation': 0.07055555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 353.843704959401, 'return': 7597.169484084075, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:26,657Z INFO episode phase=validation condition=speed_random1__-0.1000 seed=110006 metrics={'x_velocity': 4.340609026963465, 'y_velocity': 0.0, 'planar_speed': 4.353301805744527, 'height': 0.5569431679435601, 'yaw_rate': 0.0, 'effort': 0.2203159800151156, 'inversion': 0.043333333333333335, 'bad_contact': 0.6655555555555556, 'reward': 4.208419439056634, 'saturation': 0.03, 'length': 1000.0, 'failure': 0.0, 'distance': 195.32740621335594, 'return': 4546.516317383143, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:26,675Z INFO episode phase=validation condition=speed_random1__-0.1000 seed=110007 metrics={'x_velocity': 14.297288705073452, 'y_velocity': 0.0, 'planar_speed': 14.297288705073452, 'height': 0.6535323101236783, 'yaw_rate': 0.0, 'effort': 0.7095314478377501, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.87156983616881, 'saturation': 0.12166666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 643.3779917283055, 'return': 13331.175845968524, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:27,520Z INFO episode phase=validation condition=speed_random1__-0.1000 seed=110008 metrics={'x_velocity': 1.8823401619404005, 'y_velocity': 0.0, 'planar_speed': 1.8943635866119775, 'height': 0.5507547881397348, 'yaw_rate': 0.0, 'effort': 0.11007394319814112, 'inversion': 0.016666666666666666, 'bad_contact': 0.8311111111111111, 'reward': 1.8162957959540467, 'saturation': 0.013703703703703702, 'length': 1000.0, 'failure': 0.0, 'distance': 84.70530728731802, 'return': 2425.6240439268813, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:27,549Z INFO episode phase=validation condition=speed_random1__-0.1000 seed=110009 metrics={'x_velocity': 12.26599358745359, 'y_velocity': 0.0, 'planar_speed': 12.26599358745359, 'height': 0.6616984385223995, 'yaw_rate': 0.0, 'effort': 0.6959629150562816, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 11.848415838293986, 'saturation': 0.1237037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 551.9697114354116, 'return': 11445.321900200493, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:27,558Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': -0.1, 'effect': {'behavior': 'speed', 'effect': -8.28914246642616, 'ci95': [-11.12309856189705, -5.421677477567307], 'relative_effect': -0.4935341759585651, 'baseline_mean': 16.795478145614943, 'treated_mean': 8.506335679188783, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.506335679188783, 'effort': 0.5359020903218124, 'height': 0.5805533922878527, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09311111111111112, 'bad_contact': 0.3393333333333334, 'planar_speed': 8.512328633902747, 'saturation': 0.16255555555555556, 'reward': 8.184794425036673, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09311111111111112, 'bad_contact': 0.3393333333333334, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:28,492Z INFO episode phase=validation condition=speed_random1__-0.0500 seed=110001 metrics={'x_velocity': 16.69777543479754, 'y_velocity': 0.0, 'planar_speed': 16.69777543479754, 'height': 0.589829377006556, 'yaw_rate': 0.0, 'effort': 0.7321223622560501, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.258502017536628, 'saturation': 0.03481481481481481, 'length': 1000.0, 'failure': 0.0, 'distance': 751.3998945658892, 'return': 15315.51456491381, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:28,511Z INFO episode phase=validation condition=speed_random1__-0.0500 seed=110003 metrics={'x_velocity': 16.72720647363644, 'y_velocity': 0.0, 'planar_speed': 16.72720647363644, 'height': 0.5902460408620283, 'yaw_rate': 0.0, 'effort': 0.7305773066812091, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.28886008964096, 'saturation': 0.03055555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 752.7242913136398, 'return': 15494.746009751874, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:28,558Z INFO episode phase=validation condition=speed_random1__-0.0500 seed=110002 metrics={'x_velocity': 16.665861800276716, 'y_velocity': 0.0, 'planar_speed': 16.665861800276716, 'height': 0.590320291575732, 'yaw_rate': 0.0, 'effort': 0.7309055626061227, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.22731846253423, 'saturation': 0.031296296296296294, 'length': 1000.0, 'failure': 0.0, 'distance': 749.9637810124523, 'return': 15368.804867904606, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:28,582Z INFO episode phase=validation condition=speed_random1__-0.0500 seed=110000 metrics={'x_velocity': 16.66182976287308, 'y_velocity': 0.0, 'planar_speed': 16.66182976287308, 'height': 0.590504913196897, 'yaw_rate': 0.0, 'effort': 0.7295783127016492, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.2240827750799, 'saturation': 0.03407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 749.7823393292886, 'return': 15336.291539910791, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:29,426Z INFO episode phase=validation condition=speed_random1__-0.0500 seed=110007 metrics={'x_velocity': 16.73999673081875, 'y_velocity': 0.0, 'planar_speed': 16.73999673081875, 'height': 0.5898095423317666, 'yaw_rate': 0.0, 'effort': 0.7315322748157713, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.301077365518676, 'saturation': 0.03462962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 753.2998528868438, 'return': 15517.732622383406, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:29,446Z INFO episode phase=validation condition=speed_random1__-0.0500 seed=110006 metrics={'x_velocity': 16.72324006360978, 'y_velocity': 0.0, 'planar_speed': 16.72324006360978, 'height': 0.5897577309131965, 'yaw_rate': 0.0, 'effort': 0.7324056926700804, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.283796648073956, 'saturation': 0.031296296296296294, 'length': 1000.0, 'failure': 0.0, 'distance': 752.54580286244, 'return': 15414.355805498733, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:29,467Z INFO episode phase=validation condition=speed_random1__-0.0500 seed=110004 metrics={'x_velocity': 16.28086980370186, 'y_velocity': 0.0, 'planar_speed': 16.28086980370186, 'height': 0.6143156759715361, 'yaw_rate': 0.0, 'effort': 0.7303158852789137, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 15.842680272561003, 'saturation': 0.03833333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 732.6391411665837, 'return': 15043.580175740914, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:29,485Z INFO episode phase=validation condition=speed_random1__-0.0500 seed=110005 metrics={'x_velocity': 16.701573754535794, 'y_velocity': 0.0, 'planar_speed': 16.701573754535794, 'height': 0.5900506942037023, 'yaw_rate': 0.0, 'effort': 0.7316736604770024, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.262569557997924, 'saturation': 0.03296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 751.5708189541107, 'return': 15378.130463499838, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:30,331Z INFO episode phase=validation condition=speed_random1__-0.0500 seed=110008 metrics={'x_velocity': 16.732238793973156, 'y_velocity': 0.0, 'planar_speed': 16.732238793973156, 'height': 0.5898524428320302, 'yaw_rate': 0.0, 'effort': 0.7321395138237211, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.292955085056388, 'saturation': 0.030370370370370364, 'length': 1000.0, 'failure': 0.0, 'distance': 752.9507457287921, 'return': 15454.617404118986, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:30,352Z INFO episode phase=validation condition=speed_random1__-0.0500 seed=110009 metrics={'x_velocity': 16.683362234864305, 'y_velocity': 0.0, 'planar_speed': 16.683362234864305, 'height': 0.590210538327988, 'yaw_rate': 0.0, 'effort': 0.730437806877825, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.245099550148183, 'saturation': 0.03203703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 750.7513005688937, 'return': 15402.33724086927, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:30,362Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': -0.05, 'effect': {'behavior': 'speed', 'effect': -0.13408266030619878, 'ci95': [-0.22555390891479057, -0.08292096733483434], 'relative_effect': -0.007983259490662718, 'baseline_mean': 16.795478145614943, 'treated_mean': 16.66139548530874, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.66139548530874, 'effort': 0.7311688378188346, 'height': 0.5924897247221433, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.00011111111111111112, 'planar_speed': 16.66139548530874, 'saturation': 0.03303703703703704, 'reward': 16.222694182414784, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.00011111111111111112, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:31,309Z INFO episode phase=validation condition=speed_random1__+0.0500 seed=110001 metrics={'x_velocity': 16.206713017868434, 'y_velocity': 0.0, 'planar_speed': 16.206713017868434, 'height': 0.6074640069145247, 'yaw_rate': 0.0, 'effort': 0.6084046815832456, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.841670209415195, 'saturation': 0.0038888888888888888, 'length': 1000.0, 'failure': 0.0, 'distance': 729.3020858040796, 'return': 14940.365937604522, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:31,333Z INFO episode phase=validation condition=speed_random1__+0.0500 seed=110000 metrics={'x_velocity': 16.163499975962782, 'y_velocity': 0.0, 'planar_speed': 16.163499975962782, 'height': 0.6104562116658986, 'yaw_rate': 0.0, 'effort': 0.605170692536566, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.800397560083216, 'saturation': 0.00037037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 727.3574989183253, 'return': 14954.974846413777, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:31,383Z INFO episode phase=validation condition=speed_random1__+0.0500 seed=110003 metrics={'x_velocity': 16.275870797552052, 'y_velocity': 0.0, 'planar_speed': 16.275870797552052, 'height': 0.6091294115004264, 'yaw_rate': 0.0, 'effort': 0.6066013475259145, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.911909989062996, 'saturation': 0.0005555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 732.4141858898424, 'return': 15155.490919231706, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:31,408Z INFO episode phase=validation condition=speed_random1__+0.0500 seed=110002 metrics={'x_velocity': 16.160211068928056, 'y_velocity': 0.0, 'planar_speed': 16.160211068928056, 'height': 0.6158912128442433, 'yaw_rate': 0.0, 'effort': 0.593082451985942, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.804361597478204, 'saturation': 0.0011111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 727.2094981017626, 'return': 14988.143689354185, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:32,214Z INFO episode phase=validation condition=speed_random1__+0.0500 seed=110006 metrics={'x_velocity': 15.901713571642233, 'y_velocity': 0.0, 'planar_speed': 15.901713571642233, 'height': 0.6145774934625688, 'yaw_rate': 0.0, 'effort': 0.6174082196089956, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.531268640002668, 'saturation': 0.0037037037037037034, 'length': 1000.0, 'failure': 0.0, 'distance': 715.5771107239005, 'return': 14737.080598234574, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:32,234Z INFO episode phase=validation condition=speed_random1__+0.0500 seed=110004 metrics={'x_velocity': 16.09237814469921, 'y_velocity': 0.0, 'planar_speed': 16.09237814469921, 'height': 0.6124840947793895, 'yaw_rate': 0.0, 'effort': 0.6158104308446248, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.722891886192434, 'saturation': 0.00462962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 724.1570165114645, 'return': 14935.770628009202, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:32,251Z INFO episode phase=validation condition=speed_random1__+0.0500 seed=110005 metrics={'x_velocity': 16.202440485835965, 'y_velocity': 0.0, 'planar_speed': 16.202440485835965, 'height': 0.6102941650323305, 'yaw_rate': 0.0, 'effort': 0.6077990162620942, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.837761075252523, 'saturation': 0.001296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 729.1098218626184, 'return': 14995.802829028977, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:32,265Z INFO episode phase=validation condition=speed_random1__+0.0500 seed=110007 metrics={'x_velocity': 16.371267027035728, 'y_velocity': 0.0, 'planar_speed': 16.371267027035728, 'height': 0.6092257754856838, 'yaw_rate': 0.0, 'effort': 0.6040136068397098, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.008858863011373, 'saturation': 0.0014814814814814816, 'length': 1000.0, 'failure': 0.0, 'distance': 736.7070162166078, 'return': 15254.735970126832, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:33,103Z INFO episode phase=validation condition=speed_random1__+0.0500 seed=110008 metrics={'x_velocity': 16.23809146034428, 'y_velocity': 0.0, 'planar_speed': 16.23809146034428, 'height': 0.6126966305426413, 'yaw_rate': 0.0, 'effort': 0.6028772963749038, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.876365083095516, 'saturation': 0.0007407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 730.7141157154927, 'return': 15079.686402354204, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:33,157Z INFO episode phase=validation condition=speed_random1__+0.0500 seed=110009 metrics={'x_velocity': 15.899328122173108, 'y_velocity': 0.0, 'planar_speed': 15.899328122173108, 'height': 0.6189391832399772, 'yaw_rate': 0.0, 'effort': 0.6117226902974976, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.532294508252896, 'saturation': 0.008888888888888887, 'length': 1000.0, 'failure': 0.0, 'distance': 715.4697654977899, 'return': 14760.812703163509, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:33,167Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': 0.05, 'effect': {'behavior': 'speed', 'effect': -0.6443267784107556, 'ci95': [-0.7366029504428313, -0.5646992508950719], 'relative_effect': -0.0383631101671839, 'baseline_mean': 16.795478145614943, 'treated_mean': 16.151151367204186, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.151151367204186, 'effort': 0.6072890433859495, 'height': 0.6121158185467686, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.151151367204186, 'saturation': 0.0026666666666666666, 'reward': 15.786777941184704, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:34,122Z INFO episode phase=validation condition=speed_random1__+0.1000 seed=110003 metrics={'x_velocity': 15.277967896924633, 'y_velocity': 0.0, 'planar_speed': 15.277967896924633, 'height': 0.617256304694028, 'yaw_rate': 0.0, 'effort': 0.5273261813322703, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.961572188588862, 'saturation': 0.0009259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 687.5085553616085, 'return': 14300.186898804986, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:34,139Z INFO episode phase=validation condition=speed_random1__+0.1000 seed=110002 metrics={'x_velocity': 15.354305834510974, 'y_velocity': 0.0, 'planar_speed': 15.354305834510974, 'height': 0.615949741146222, 'yaw_rate': 0.0, 'effort': 0.5276546038852797, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.037713072027485, 'saturation': 0.0009259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 690.9437625529939, 'return': 14298.160016448535, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:34,155Z INFO episode phase=validation condition=speed_random1__+0.1000 seed=110001 metrics={'x_velocity': 15.069777942597211, 'y_velocity': 0.0, 'planar_speed': 15.069777942597211, 'height': 0.6233379006518569, 'yaw_rate': 0.0, 'effort': 0.5286924031045702, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.752562500734468, 'saturation': 0.002962962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 678.1400074168746, 'return': 13960.16899979187, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:34,168Z INFO episode phase=validation condition=speed_random1__+0.1000 seed=110000 metrics={'x_velocity': 15.213453746928232, 'y_velocity': 0.0, 'planar_speed': 15.213453746928232, 'height': 0.6176975406640467, 'yaw_rate': 0.0, 'effort': 0.5298298262556393, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.89555585120796, 'saturation': 0.002037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 684.6054186117705, 'return': 14140.617308426048, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:35,066Z INFO episode phase=validation condition=speed_random1__+0.1000 seed=110007 metrics={'x_velocity': 15.010526571088139, 'y_velocity': 0.0, 'planar_speed': 15.010526571088139, 'height': 0.6208614037746947, 'yaw_rate': 0.0, 'effort': 0.5248955426447921, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.695589245769483, 'saturation': 0.0022222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 675.4736956989664, 'return': 14072.793314609133, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:35,080Z INFO episode phase=validation condition=speed_random1__+0.1000 seed=110005 metrics={'x_velocity': 15.271798684331165, 'y_velocity': 0.0, 'planar_speed': 15.271798684331165, 'height': 0.6189214792324197, 'yaw_rate': 0.0, 'effort': 0.5251785326004028, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.956691564969606, 'saturation': 0.0009259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 687.2309407949024, 'return': 14202.84026977435, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:35,095Z INFO episode phase=validation condition=speed_random1__+0.1000 seed=110004 metrics={'x_velocity': 14.983428609186292, 'y_velocity': 0.0, 'planar_speed': 14.983428609186292, 'height': 0.6218111427693028, 'yaw_rate': 0.0, 'effort': 0.5299642739527756, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.66545004484443, 'saturation': 0.0033333333333333335, 'length': 1000.0, 'failure': 0.0, 'distance': 674.2542874133833, 'return': 13984.072970796002, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:35,112Z INFO episode phase=validation condition=speed_random1__+0.1000 seed=110006 metrics={'x_velocity': 15.076637620016305, 'y_velocity': 0.0, 'planar_speed': 15.076637620016305, 'height': 0.6209687361665447, 'yaw_rate': 0.0, 'effort': 0.525242280960083, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.761492251228328, 'saturation': 0.002222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 678.4486929007338, 'return': 14044.281848337669, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:36,028Z INFO episode phase=validation condition=speed_random1__+0.1000 seed=110009 metrics={'x_velocity': 15.23808730052151, 'y_velocity': 0.0, 'planar_speed': 15.23808730052151, 'height': 0.6171834462063419, 'yaw_rate': 0.0, 'effort': 0.5256551097664568, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.922694235095426, 'saturation': 0.0007407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 685.713928523468, 'return': 14212.172457321787, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:36,043Z INFO episode phase=validation condition=speed_random1__+0.1000 seed=110008 metrics={'x_velocity': 14.212700778670635, 'y_velocity': 0.0, 'planar_speed': 14.212700778670635, 'height': 0.6365265597699071, 'yaw_rate': 0.0, 'effort': 0.5430151878794034, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.88689166559199, 'saturation': 0.01759259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 639.5715350401787, 'return': 13289.16032660103, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:36,053Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': 0.1, 'effect': {'behavior': 'speed', 'effect': -1.7246096471374308, 'ci95': [-1.93418202266772, -1.571063782557717], 'relative_effect': -0.10268297408297967, 'baseline_mean': 16.795478145614943, 'treated_mean': 15.070868498477509, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.070868498477509, 'effort': 0.5287453942381674, 'height': 0.6210514255075364, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 15.070868498477509, 'saturation': 0.003388888888888889, 'reward': 14.753621262005804, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:36,999Z INFO episode phase=validation condition=speed_random1__+0.2000 seed=110000 metrics={'x_velocity': 9.20977143064863, 'y_velocity': 0.0, 'planar_speed': 9.20977143064863, 'height': 0.6625461159605887, 'yaw_rate': 0.0, 'effort': 0.55475204643276, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.876920202835334, 'saturation': 0.052222222222222225, 'length': 1000.0, 'failure': 0.0, 'distance': 414.4397143791884, 'return': 8723.845224890683, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:37,014Z INFO episode phase=validation condition=speed_random1__+0.2000 seed=110001 metrics={'x_velocity': 8.5855458081014, 'y_velocity': 0.0, 'planar_speed': 8.5855458081014, 'height': 0.6756424067499802, 'yaw_rate': 0.0, 'effort': 0.5618294422907961, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.248448142930572, 'saturation': 0.06166666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 386.34956136456304, 'return': 8106.46607776836, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:37,029Z INFO episode phase=validation condition=speed_random1__+0.2000 seed=110002 metrics={'x_velocity': 8.920547405539176, 'y_velocity': 0.0, 'planar_speed': 8.920547405539176, 'height': 0.6608149514698182, 'yaw_rate': 0.0, 'effort': 0.5564121718704701, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.586700102142052, 'saturation': 0.058703703703703695, 'length': 1000.0, 'failure': 0.0, 'distance': 401.424633249263, 'return': 8492.248343551646, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:37,046Z INFO episode phase=validation condition=speed_random1__+0.2000 seed=110003 metrics={'x_velocity': 8.888136492653924, 'y_velocity': 0.0, 'planar_speed': 8.888136492653924, 'height': 0.664211896205861, 'yaw_rate': 0.0, 'effort': 0.5600179135964977, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.552125744645036, 'saturation': 0.05574074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 399.96614216942663, 'return': 8531.685099255545, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:37,936Z INFO episode phase=validation condition=speed_random1__+0.2000 seed=110004 metrics={'x_velocity': 8.646052966075475, 'y_velocity': 0.0, 'planar_speed': 8.646052966075475, 'height': 0.6712206266797988, 'yaw_rate': 0.0, 'effort': 0.5607110298921665, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.30962634826104, 'saturation': 0.05722222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 389.07238347339637, 'return': 8263.831643870948, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:37,952Z INFO episode phase=validation condition=speed_random1__+0.2000 seed=110005 metrics={'x_velocity': 9.123049113422823, 'y_velocity': 0.0, 'planar_speed': 9.123049113422823, 'height': 0.6677132349770081, 'yaw_rate': 0.0, 'effort': 0.55676596870025, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.78898953265302, 'saturation': 0.054629629629629625, 'length': 1000.0, 'failure': 0.0, 'distance': 410.53721010402705, 'return': 8651.908440689422, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:37,967Z INFO episode phase=validation condition=speed_random1__+0.2000 seed=110006 metrics={'x_velocity': 8.88033251155252, 'y_velocity': 0.0, 'planar_speed': 8.88033251155252, 'height': 0.6725301723441927, 'yaw_rate': 0.0, 'effort': 0.5644599898904562, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.541656517527183, 'saturation': 0.05481481481481481, 'length': 1000.0, 'failure': 0.0, 'distance': 399.6149630198634, 'return': 8446.429688006638, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:37,982Z INFO episode phase=validation condition=speed_random1__+0.2000 seed=110007 metrics={'x_velocity': 0.7558190717599016, 'y_velocity': 0.0, 'planar_speed': 0.7595692776815122, 'height': 0.6041233856070168, 'yaw_rate': 0.0, 'effort': 0.0477905456830437, 'inversion': 0.014444444444444444, 'bad_contact': 0.9033333333333333, 'reward': 0.7271447444439321, 'saturation': 0.005925925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 34.011858229195575, 'return': 1501.1932634161349, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:38,849Z INFO episode phase=validation condition=speed_random1__+0.2000 seed=110008 metrics={'x_velocity': 8.798550824883458, 'y_velocity': 0.0, 'planar_speed': 8.798550824883458, 'height': 0.6728487801215508, 'yaw_rate': 0.0, 'effort': 0.5613354101280371, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.461749578942403, 'saturation': 0.060185185185185175, 'length': 1000.0, 'failure': 0.0, 'distance': 395.93478711975564, 'return': 8406.5324486164, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:38,865Z INFO episode phase=validation condition=speed_random1__+0.2000 seed=110009 metrics={'x_velocity': 9.03605907073613, 'y_velocity': 0.0, 'planar_speed': 9.03605907073613, 'height': 0.6587255591205917, 'yaw_rate': 0.0, 'effort': 0.5603551951713032, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.6998459539976, 'saturation': 0.05703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 406.62265818312585, 'return': 8611.609004333743, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:38,874Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': 0.2, 'effect': {'behavior': 'speed', 'effect': -8.711091676077597, 'ci95': [-10.387506192381306, -7.801899999542288], 'relative_effect': -0.5186569623414942, 'baseline_mean': 16.795478145614943, 'treated_mean': 8.084386469537344, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.084386469537344, 'effort': 0.508442971365578, 'height': 0.6610377129236407, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0014444444444444444, 'bad_contact': 0.09033333333333333, 'planar_speed': 8.084761490129505, 'saturation': 0.051814814814814814, 'reward': 7.779320686837816, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.0014444444444444444, 'bad_contact': 0.09033333333333333, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:39,875Z INFO episode phase=validation condition=speed_random1__+0.5000 seed=110000 metrics={'x_velocity': 1.1986573982321964, 'y_velocity': 0.0, 'planar_speed': 1.2174573270706088, 'height': 0.6143673216054902, 'yaw_rate': 0.0, 'effort': 0.6588026869628164, 'inversion': 0.02666666666666667, 'bad_contact': 0.6511111111111111, 'reward': 0.803375787286336, 'saturation': 0.37833333333333335, 'length': 1000.0, 'failure': 0.0, 'distance': 53.939582920448835, 'return': 1457.6552508965856, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:39,892Z INFO episode phase=validation condition=speed_random1__+0.5000 seed=110001 metrics={'x_velocity': 1.2184927479819776, 'y_velocity': 0.0, 'planar_speed': 1.2340596254001668, 'height': 0.668652041038867, 'yaw_rate': 0.0, 'effort': 0.7264328393505679, 'inversion': 0.0, 'bad_contact': 0.6044444444444445, 'reward': 0.7826330444544211, 'saturation': 0.46703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 54.832173659188996, 'return': 1387.2324891398252, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:39,907Z INFO episode phase=validation condition=speed_random1__+0.5000 seed=110002 metrics={'x_velocity': 2.9653506360941537, 'y_velocity': 0.0, 'planar_speed': 2.9653506360941537, 'height': 0.6558041066480081, 'yaw_rate': 0.0, 'effort': 0.6337135692768626, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 2.585122494243258, 'saturation': 0.1859259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 133.4407786242369, 'return': 3090.828496442731, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:39,923Z INFO episode phase=validation condition=speed_random1__+0.5000 seed=110003 metrics={'x_velocity': 2.9788505934026137, 'y_velocity': 0.0, 'planar_speed': 2.9788505934026137, 'height': 0.6591371535825273, 'yaw_rate': 0.0, 'effort': 0.6243612605664465, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 2.6042338373475236, 'saturation': 0.17833333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 134.0482767031176, 'return': 3178.5823826877804, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:40,968Z INFO episode phase=validation condition=speed_random1__+0.5000 seed=110005 metrics={'x_velocity': 0.5889750393075148, 'y_velocity': 0.0, 'planar_speed': 0.5934510617408619, 'height': 0.6057637670104324, 'yaw_rate': 0.0, 'effort': 0.037051796982866814, 'inversion': 0.02, 'bad_contact': 0.9166666666666666, 'reward': 0.5667439610794164, 'saturation': 0.008148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 26.50387676883817, 'return': 1251.8874262731795, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:40,984Z INFO episode phase=validation condition=speed_random1__+0.5000 seed=110004 metrics={'x_velocity': 2.5341454097713787, 'y_velocity': 0.0, 'planar_speed': 2.573587789250397, 'height': 0.6722836297379392, 'yaw_rate': 0.0, 'effort': 0.6248395583033561, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 2.15924167525958, 'saturation': 0.19185185185185188, 'length': 1000.0, 'failure': 0.0, 'distance': 114.03654343971205, 'return': 2728.4854381696337, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:41,000Z INFO episode phase=validation condition=speed_random1__+0.5000 seed=110006 metrics={'x_velocity': 2.949392251417003, 'y_velocity': 0.0, 'planar_speed': 2.950969135746534, 'height': 0.6580007685944905, 'yaw_rate': 0.0, 'effort': 0.6199356402125623, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 2.5774308673192676, 'saturation': 0.1790740740740741, 'length': 1000.0, 'failure': 0.0, 'distance': 132.7226513137651, 'return': 3078.626602819513, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:41,015Z INFO episode phase=validation condition=speed_random1__+0.5000 seed=110007 metrics={'x_velocity': 2.9959234279073086, 'y_velocity': 0.0, 'planar_speed': 2.9959234279073086, 'height': 0.6603140429049363, 'yaw_rate': 0.0, 'effort': 0.6305106057723363, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 2.617617063947202, 'saturation': 0.18648148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 134.8165542558289, 'return': 3202.6183509690773, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:41,916Z INFO episode phase=validation condition=speed_random1__+0.5000 seed=110008 metrics={'x_velocity': 3.2664024913417515, 'y_velocity': 0.0, 'planar_speed': 3.2664024913417515, 'height': 0.6540247259665642, 'yaw_rate': 0.0, 'effort': 0.6340577830291456, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 2.8859678219265956, 'saturation': 0.18462962962962962, 'length': 1000.0, 'failure': 0.0, 'distance': 146.98811211037884, 'return': 3388.328867302175, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:41,932Z INFO episode phase=validation condition=speed_random1__+0.5000 seed=110009 metrics={'x_velocity': 2.7275967726075416, 'y_velocity': 0.0, 'planar_speed': 2.7279543463613067, 'height': 0.6666796524986479, 'yaw_rate': 0.0, 'effort': 0.6157462447219425, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 2.3581490260525313, 'saturation': 0.17925925925925923, 'length': 1000.0, 'failure': 0.0, 'distance': 122.74185476733938, 'return': 2904.081769183182, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:41,942Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': 0.5, 'effect': {'behavior': 'speed', 'effect': -14.453099468808597, 'ci95': [-15.036674833618626, -13.966202783920778], 'relative_effect': -0.8605351597317932, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.3423786768063435, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.3423786768063435, 'effort': 0.5805451985178903, 'height': 0.6515027209587904, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.004666666666666667, 'bad_contact': 0.2172222222222222, 'planar_speed': 2.3504006434315707, 'saturation': 0.21390740740740738, 'reward': 1.9940515578916131, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.004666666666666667, 'bad_contact': 0.2172222222222222, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:42,871Z INFO episode phase=validation condition=speed_random2__-0.5000 seed=110003 metrics={'x_velocity': 0.6808083015677241, 'y_velocity': 0.0, 'planar_speed': 0.6870684707993023, 'height': 0.6075178495450663, 'yaw_rate': 0.0, 'effort': 0.040980659869965165, 'inversion': 0.014444444444444444, 'bad_contact': 0.9144444444444444, 'reward': 0.6562199055472837, 'saturation': 0.009814814814814813, 'length': 1000.0, 'failure': 0.0, 'distance': 30.636373570547587, 'return': 1425.3698440675655, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:42,888Z INFO episode phase=validation condition=speed_random2__-0.5000 seed=110001 metrics={'x_velocity': 1.2543272627286663, 'y_velocity': 0.0, 'planar_speed': 1.467993302649855, 'height': 0.22785427219112062, 'yaw_rate': 0.0, 'effort': 0.37185434326943423, 'inversion': 0.95, 'bad_contact': 0.4111111111111111, 'reward': 1.0312146567156795, 'saturation': 0.014074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 56.44472682278999, 'return': 1610.9559401749577, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:42,903Z INFO episode phase=validation condition=speed_random2__-0.5000 seed=110002 metrics={'x_velocity': 3.3565686676334257, 'y_velocity': 0.0, 'planar_speed': 3.406770750642529, 'height': 0.5899576052228817, 'yaw_rate': 0.0, 'effort': 0.5756195213707784, 'inversion': 0.23333333333333334, 'bad_contact': 0.11, 'reward': 3.011196954662361, 'saturation': 0.17759259259259258, 'length': 1000.0, 'failure': 0.0, 'distance': 151.04559004350415, 'return': 3474.295510819924, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:42,917Z INFO episode phase=validation condition=speed_random2__-0.5000 seed=110000 metrics={'x_velocity': 3.7490856330145768, 'y_velocity': 0.0, 'planar_speed': 3.7490856330145768, 'height': 0.6760260484895763, 'yaw_rate': 0.0, 'effort': 0.6293868882788552, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.371453499755863, 'saturation': 0.21314814814814811, 'length': 1000.0, 'failure': 0.0, 'distance': 168.70885348565596, 'return': 3768.9251921191603, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:43,791Z INFO episode phase=validation condition=speed_random2__-0.5000 seed=110005 metrics={'x_velocity': 0.7651102980348158, 'y_velocity': 0.0, 'planar_speed': 0.7701340956463635, 'height': 0.606711935049047, 'yaw_rate': 0.0, 'effort': 0.045102585021458155, 'inversion': 0.014444444444444444, 'bad_contact': 0.9077777777777778, 'reward': 0.7380487471533093, 'saturation': 0.007222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 34.42996341156671, 'return': 1406.061733739683, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:43,808Z INFO episode phase=validation condition=speed_random2__-0.5000 seed=110006 metrics={'x_velocity': 0.8640095080349758, 'y_velocity': 0.0, 'planar_speed': 0.8701655336121651, 'height': 0.608024661286729, 'yaw_rate': 0.0, 'effort': 0.0584720903611742, 'inversion': 0.02, 'bad_contact': 0.8922222222222222, 'reward': 0.8289262538286709, 'saturation': 0.014814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 38.880427861573914, 'return': 1504.9724506779764, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:43,824Z INFO episode phase=validation condition=speed_random2__-0.5000 seed=110004 metrics={'x_velocity': 4.096021376155539, 'y_velocity': 0.0, 'planar_speed': 4.100059724773987, 'height': 0.6827076641207931, 'yaw_rate': 0.0, 'effort': 0.6477190802329117, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 3.707389927860157, 'saturation': 0.2264814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 184.32096192699927, 'return': 4121.818865510154, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:43,840Z INFO episode phase=validation condition=speed_random2__-0.5000 seed=110007 metrics={'x_velocity': 1.207371082680339, 'y_velocity': 0.0, 'planar_speed': 1.4275654094430774, 'height': 0.218386483559703, 'yaw_rate': 0.0, 'effort': 0.35817996960340276, 'inversion': 0.9855555555555555, 'bad_contact': 0.41333333333333333, 'reward': 0.9924631009360961, 'saturation': 0.005555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 54.331698720615265, 'return': 1739.9797842590826, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:44,702Z INFO episode phase=validation condition=speed_random2__-0.5000 seed=110008 metrics={'x_velocity': 3.4477572871360733, 'y_velocity': 0.0, 'planar_speed': 3.490645896485401, 'height': 0.6866478353197849, 'yaw_rate': 0.0, 'effort': 0.6387256770001517, 'inversion': 0.0, 'bad_contact': 0.01888888888888889, 'reward': 3.0645218809426056, 'saturation': 0.22333333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 155.1490779211233, 'return': 3549.0275204165832, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:44,725Z INFO episode phase=validation condition=speed_random2__-0.5000 seed=110009 metrics={'x_velocity': 3.9679302765667686, 'y_velocity': 0.0, 'planar_speed': 3.9679302765667686, 'height': 0.6818419944205037, 'yaw_rate': 0.0, 'effort': 0.6428782782124148, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 3.582203309722104, 'saturation': 0.2274074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 178.5568624455046, 'return': 4005.7306244857973, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:44,735Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': -0.5, 'effect': {'behavior': 'speed', 'effect': -14.456579176259648, 'ci95': [-15.315594503448539, -13.581741931031427], 'relative_effect': -0.8607423409397875, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.3388989693552906, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.3388989693552906, 'effort': 0.40089190932205465, 'height': 0.5585676349205205, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.2217777777777778, 'bad_contact': 0.367, 'planar_speed': 2.3937419093634023, 'saturation': 0.11194444444444444, 'reward': 2.098363823712413, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.2217777777777778, 'bad_contact': 0.367, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:45,709Z INFO episode phase=validation condition=speed_random2__-0.2000 seed=110003 metrics={'x_velocity': 11.05418497496891, 'y_velocity': 0.0, 'planar_speed': 11.05418497496891, 'height': 0.6711052586027975, 'yaw_rate': 0.0, 'effort': 0.62802226519833, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.677371615476556, 'saturation': 0.10314814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 497.438323873601, 'return': 10444.40638300391, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:45,746Z INFO episode phase=validation condition=speed_random2__-0.2000 seed=110001 metrics={'x_velocity': 11.262392050209495, 'y_velocity': 0.0, 'planar_speed': 11.262392050209495, 'height': 0.6709646980148051, 'yaw_rate': 0.0, 'effort': 0.6242022467818525, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.887870702454961, 'saturation': 0.09759259259259258, 'length': 1000.0, 'failure': 0.0, 'distance': 506.8076422594273, 'return': 10481.946381340314, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:45,786Z INFO episode phase=validation condition=speed_random2__-0.2000 seed=110002 metrics={'x_velocity': 12.650195153404203, 'y_velocity': 0.0, 'planar_speed': 12.650195153404203, 'height': 0.6523898683058811, 'yaw_rate': 0.0, 'effort': 0.6178906221356657, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.279460780311553, 'saturation': 0.08388888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 569.2587819031892, 'return': 11815.732953904197, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:45,803Z INFO episode phase=validation condition=speed_random2__-0.2000 seed=110000 metrics={'x_velocity': 12.523817010541224, 'y_velocity': 0.0, 'planar_speed': 12.523817010541224, 'height': 0.649984891255308, 'yaw_rate': 0.0, 'effort': 0.6130759175535705, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.155971460242535, 'saturation': 0.0835185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 563.5717654743552, 'return': 11674.991356557164, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:46,673Z INFO episode phase=validation condition=speed_random2__-0.2000 seed=110004 metrics={'x_velocity': 11.204369826971439, 'y_velocity': 0.0, 'planar_speed': 11.204369826971439, 'height': 0.6752906955854021, 'yaw_rate': 0.0, 'effort': 0.6230511594977644, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.830539131117144, 'saturation': 0.10166666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 504.19664221371477, 'return': 10532.65314844144, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:46,690Z INFO episode phase=validation condition=speed_random2__-0.2000 seed=110005 metrics={'x_velocity': 5.459154027317355, 'y_velocity': 0.0, 'planar_speed': 5.467651120950555, 'height': 0.6207119580386821, 'yaw_rate': 0.0, 'effort': 0.282109670539697, 'inversion': 0.03, 'bad_contact': 0.53, 'reward': 5.289888225147928, 'saturation': 0.0387037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 245.66193122928098, 'return': 5502.717263934841, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:46,713Z INFO episode phase=validation condition=speed_random2__-0.2000 seed=110006 metrics={'x_velocity': 12.146373246882884, 'y_velocity': 0.0, 'planar_speed': 12.146373246882884, 'height': 0.6510960638564329, 'yaw_rate': 0.0, 'effort': 0.6157542487937543, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.776920697680309, 'saturation': 0.08574074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 546.5867961097298, 'return': 11358.16745014445, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:46,738Z INFO episode phase=validation condition=speed_random2__-0.2000 seed=110007 metrics={'x_velocity': 5.683635822101327, 'y_velocity': 0.0, 'planar_speed': 5.692326898565652, 'height': 0.6156382697848951, 'yaw_rate': 0.0, 'effort': 0.2857167857135129, 'inversion': 0.013333333333333334, 'bad_contact': 0.5166666666666667, 'reward': 5.512205750508582, 'saturation': 0.03481481481481481, 'length': 1000.0, 'failure': 0.0, 'distance': 255.76361199455974, 'return': 5807.74816887432, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:47,670Z INFO episode phase=validation condition=speed_random2__-0.2000 seed=110008 metrics={'x_velocity': 11.859756963395885, 'y_velocity': 0.0, 'planar_speed': 11.859756963395885, 'height': 0.6625171799429022, 'yaw_rate': 0.0, 'effort': 0.6197500189310975, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 11.487906952179616, 'saturation': 0.09629629629629628, 'length': 1000.0, 'failure': 0.0, 'distance': 533.6890633528149, 'return': 11130.074084529893, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:47,688Z INFO episode phase=validation condition=speed_random2__-0.2000 seed=110009 metrics={'x_velocity': 11.646915434826173, 'y_velocity': 0.0, 'planar_speed': 11.646915434826173, 'height': 0.657014495997218, 'yaw_rate': 0.0, 'effort': 0.617634716414743, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.276334604848186, 'saturation': 0.08962962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 524.1111945671778, 'return': 10930.448790099272, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:47,702Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': -0.2, 'effect': {'behavior': 'speed', 'effect': -6.246398694553051, 'ci95': [-8.04215150949956, -4.8444713422162256], 'relative_effect': -0.3719095485342818, 'baseline_mean': 16.795478145614943, 'treated_mean': 10.549079451061889, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.549079451061889, 'effort': 0.5527207651559988, 'height': 0.6526713379384325, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.004333333333333333, 'bad_contact': 0.10477777777777779, 'planar_speed': 10.550798268071642, 'saturation': 0.08149999999999999, 'reward': 10.217446991996736, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.004333333333333333, 'bad_contact': 0.10477777777777779, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:48,614Z INFO episode phase=validation condition=speed_random2__-0.1000 seed=110002 metrics={'x_velocity': 14.168990821929176, 'y_velocity': 0.0, 'planar_speed': 14.168990821929176, 'height': 0.6420407532980844, 'yaw_rate': 0.0, 'effort': 0.6180523247561521, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.798159426584578, 'saturation': 0.038148148148148146, 'length': 1000.0, 'failure': 0.0, 'distance': 637.604586986813, 'return': 13182.561735549916, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:48,629Z INFO episode phase=validation condition=speed_random2__-0.1000 seed=110003 metrics={'x_velocity': 13.760806059565919, 'y_velocity': 0.0, 'planar_speed': 13.760806059565919, 'height': 0.6533766387887057, 'yaw_rate': 0.0, 'effort': 0.6242087912062804, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.386280785064013, 'saturation': 0.04203703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 619.2362726804664, 'return': 12882.424635632622, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:48,705Z INFO episode phase=validation condition=speed_random2__-0.1000 seed=110001 metrics={'x_velocity': 14.49548438732632, 'y_velocity': 0.0, 'planar_speed': 14.49548438732632, 'height': 0.639525118911838, 'yaw_rate': 0.0, 'effort': 0.6236752295990785, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.121279249345013, 'saturation': 0.03518518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 652.2967974296844, 'return': 13392.014073541355, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:48,725Z INFO episode phase=validation condition=speed_random2__-0.1000 seed=110000 metrics={'x_velocity': 14.381781827766693, 'y_velocity': 0.0, 'planar_speed': 14.381781827766693, 'height': 0.640842101890204, 'yaw_rate': 0.0, 'effort': 0.6199471238917774, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.00981355317334, 'saturation': 0.035, 'length': 1000.0, 'failure': 0.0, 'distance': 647.1801822495013, 'return': 13343.449240194888, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:49,596Z INFO episode phase=validation condition=speed_random2__-0.1000 seed=110005 metrics={'x_velocity': 14.789345980703995, 'y_velocity': 0.0, 'planar_speed': 14.789345980703995, 'height': 0.6325717574333378, 'yaw_rate': 0.0, 'effort': 0.6200541022833851, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.417313519385292, 'saturation': 0.030370370370370364, 'length': 1000.0, 'failure': 0.0, 'distance': 665.5205691316798, 'return': 13717.400028748467, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:49,615Z INFO episode phase=validation condition=speed_random2__-0.1000 seed=110004 metrics={'x_velocity': 14.180661903140201, 'y_velocity': 0.0, 'planar_speed': 14.180661903140201, 'height': 0.6468558123331165, 'yaw_rate': 0.0, 'effort': 0.6261797987669706, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.804954024163141, 'saturation': 0.035925925925925924, 'length': 1000.0, 'failure': 0.0, 'distance': 638.1297856413091, 'return': 13209.626552182839, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:49,628Z INFO episode phase=validation condition=speed_random2__-0.1000 seed=110006 metrics={'x_velocity': 13.931381555725157, 'y_velocity': 0.0, 'planar_speed': 13.931381555725157, 'height': 0.6534137555426943, 'yaw_rate': 0.0, 'effort': 0.6217260327852434, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.558345936360311, 'saturation': 0.03796296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 626.9121700076321, 'return': 12961.450164956452, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:49,640Z INFO episode phase=validation condition=speed_random2__-0.1000 seed=110007 metrics={'x_velocity': 14.609660104770589, 'y_velocity': 0.0, 'planar_speed': 14.609660104770589, 'height': 0.6389387533451559, 'yaw_rate': 0.0, 'effort': 0.6213352267195781, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.236858968084844, 'saturation': 0.032777777777777774, 'length': 1000.0, 'failure': 0.0, 'distance': 657.4347047146765, 'return': 13659.936064692956, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:50,663Z INFO episode phase=validation condition=speed_random2__-0.1000 seed=110008 metrics={'x_velocity': 14.046017714840385, 'y_velocity': 0.0, 'planar_speed': 14.046017714840385, 'height': 0.6570189824044655, 'yaw_rate': 0.0, 'effort': 0.6299609252313773, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.668041160062497, 'saturation': 0.04203703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 632.0707971678174, 'return': 13092.194871624488, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:50,683Z INFO episode phase=validation condition=speed_random2__-0.1000 seed=110009 metrics={'x_velocity': 14.18624835605266, 'y_velocity': 0.0, 'planar_speed': 14.18624835605266, 'height': 0.6493479182647471, 'yaw_rate': 0.0, 'effort': 0.6207952541775174, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.813771203592507, 'saturation': 0.032407407407407406, 'length': 1000.0, 'failure': 0.0, 'distance': 638.3811760223698, 'return': 13214.141728969162, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:50,693Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': -0.1, 'effect': {'behavior': 'speed', 'effect': -2.540440274432831, 'ci95': [-2.721957377132432, -2.3471073351871303], 'relative_effect': -0.1512573951397807, 'baseline_mean': 16.795478145614943, 'treated_mean': 14.255037871182108, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 14.255037871182108, 'effort': 0.6225934809417362, 'height': 0.645393159221235, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 14.255037871182108, 'saturation': 0.03618518518518518, 'reward': 13.881481782581554, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:51,773Z INFO episode phase=validation condition=speed_random2__-0.0500 seed=110002 metrics={'x_velocity': 15.891826101379298, 'y_velocity': 0.0, 'planar_speed': 15.891826101379298, 'height': 0.6257655106236698, 'yaw_rate': 0.0, 'effort': 0.6321348350743453, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.512545200516817, 'saturation': 0.015185185185185182, 'length': 1000.0, 'failure': 0.0, 'distance': 715.1321745620685, 'return': 14725.508932088933, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:51,789Z INFO episode phase=validation condition=speed_random2__-0.0500 seed=110003 metrics={'x_velocity': 15.696548408231545, 'y_velocity': 0.0, 'planar_speed': 15.696548408231545, 'height': 0.6242445358275538, 'yaw_rate': 0.0, 'effort': 0.6371958001785808, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.314230928462154, 'saturation': 0.021851851851851848, 'length': 1000.0, 'failure': 0.0, 'distance': 706.3446783704195, 'return': 14617.57976469095, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:51,806Z INFO episode phase=validation condition=speed_random2__-0.0500 seed=110000 metrics={'x_velocity': 15.93170185348087, 'y_velocity': 0.0, 'planar_speed': 15.93170185348087, 'height': 0.6223846876578909, 'yaw_rate': 0.0, 'effort': 0.6413593007458581, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.546886272927393, 'saturation': 0.018518518518518517, 'length': 1000.0, 'failure': 0.0, 'distance': 716.9265834066392, 'return': 14726.814687973536, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:51,820Z INFO episode phase=validation condition=speed_random2__-0.0500 seed=110001 metrics={'x_velocity': 15.552433746668203, 'y_velocity': 0.0, 'planar_speed': 15.552433746668203, 'height': 0.6303170446613445, 'yaw_rate': 0.0, 'effort': 0.6394940025442176, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.168737344608543, 'saturation': 0.02296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 699.8595186000692, 'return': 14334.726359278535, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:52,886Z INFO episode phase=validation condition=speed_random2__-0.0500 seed=110004 metrics={'x_velocity': 15.843479962015744, 'y_velocity': 0.0, 'planar_speed': 15.843479962015744, 'height': 0.6236941670301664, 'yaw_rate': 0.0, 'effort': 0.6347468435764313, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.462631855604977, 'saturation': 0.01888888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 712.9565982907085, 'return': 14701.536600480491, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:52,902Z INFO episode phase=validation condition=speed_random2__-0.0500 seed=110005 metrics={'x_velocity': 15.958521405011224, 'y_velocity': 0.0, 'planar_speed': 15.958521405011224, 'height': 0.6203082308900035, 'yaw_rate': 0.0, 'effort': 0.6365571286777655, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.576587128125764, 'saturation': 0.015925925925925923, 'length': 1000.0, 'failure': 0.0, 'distance': 718.1334632255051, 'return': 14760.746276614896, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:52,917Z INFO episode phase=validation condition=speed_random2__-0.0500 seed=110007 metrics={'x_velocity': 15.829465549049441, 'y_velocity': 0.0, 'planar_speed': 15.829465549049441, 'height': 0.6200387734043642, 'yaw_rate': 0.0, 'effort': 0.6307996573050817, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.450985754851828, 'saturation': 0.017222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 712.3259497072249, 'return': 14752.650172783242, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:52,932Z INFO episode phase=validation condition=speed_random2__-0.0500 seed=110006 metrics={'x_velocity': 15.729610508791534, 'y_velocity': 0.0, 'planar_speed': 15.729610508791534, 'height': 0.6244251294976868, 'yaw_rate': 0.0, 'effort': 0.6361956394380993, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.347893124929994, 'saturation': 0.01759259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 707.832472895619, 'return': 14572.042634669166, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:53,862Z INFO episode phase=validation condition=speed_random2__-0.0500 seed=110008 metrics={'x_velocity': 15.584470990964723, 'y_velocity': 0.0, 'planar_speed': 15.584470990964723, 'height': 0.6261617652411073, 'yaw_rate': 0.0, 'effort': 0.637089822921488, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.202217096980037, 'saturation': 0.021666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 701.3011945934127, 'return': 14472.953214850273, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:53,887Z INFO episode phase=validation condition=speed_random2__-0.0500 seed=110009 metrics={'x_velocity': 15.602332499150037, 'y_velocity': 0.0, 'planar_speed': 15.602332499150037, 'height': 0.6376747469840972, 'yaw_rate': 0.0, 'effort': 0.6468527814083629, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.21422083076199, 'saturation': 0.029259259259259256, 'length': 1000.0, 'failure': 0.0, 'distance': 702.1049624617517, 'return': 14474.546393421693, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:53,897Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': -0.05, 'effect': {'behavior': 'speed', 'effect': -1.0334390431406786, 'ci95': [-1.1229268820893574, -0.9446634836223569], 'relative_effect': -0.06153079026276454, 'baseline_mean': 16.795478145614943, 'treated_mean': 15.762039102474262, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.762039102474262, 'effort': 0.637242581187023, 'height': 0.6255014591817886, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 15.762039102474262, 'saturation': 0.01990740740740741, 'reward': 15.379693553776951, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:54,850Z INFO episode phase=validation condition=speed_random2__+0.0500 seed=110000 metrics={'x_velocity': 15.168031676439378, 'y_velocity': 0.0, 'planar_speed': 15.168031676439378, 'height': 0.6059609415654844, 'yaw_rate': 0.0, 'effort': 0.680125751528475, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.759956225396461, 'saturation': 0.03574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 682.561425439772, 'return': 14018.577645195699, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:54,866Z INFO episode phase=validation condition=speed_random2__+0.0500 seed=110003 metrics={'x_velocity': 15.723329733508292, 'y_velocity': 0.0, 'planar_speed': 15.723329733508292, 'height': 0.5956618679818856, 'yaw_rate': 0.0, 'effort': 0.6841108476453357, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.312863224722406, 'saturation': 0.025740740740740738, 'length': 1000.0, 'failure': 0.0, 'distance': 707.5498380078732, 'return': 14616.348831325176, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:54,881Z INFO episode phase=validation condition=speed_random2__+0.0500 seed=110002 metrics={'x_velocity': 15.59021047130799, 'y_velocity': 0.0, 'planar_speed': 15.59021047130799, 'height': 0.5987529289073686, 'yaw_rate': 0.0, 'effort': 0.6847968653506703, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.179332351706847, 'saturation': 0.029444444444444443, 'length': 1000.0, 'failure': 0.0, 'distance': 701.5594712088596, 'return': 14425.617368159963, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:54,896Z INFO episode phase=validation condition=speed_random2__+0.0500 seed=110001 metrics={'x_velocity': 15.71332982919464, 'y_velocity': 0.0, 'planar_speed': 15.71332982919464, 'height': 0.5978964052201527, 'yaw_rate': 0.0, 'effort': 0.6872096395161417, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.301004045849206, 'saturation': 0.03148148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 707.0998423137589, 'return': 14453.766390395132, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:55,857Z INFO episode phase=validation condition=speed_random2__+0.0500 seed=110005 metrics={'x_velocity': 15.794349091990473, 'y_velocity': 0.0, 'planar_speed': 15.794349091990473, 'height': 0.5962304444089108, 'yaw_rate': 0.0, 'effort': 0.6889731192092101, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.380965220951717, 'saturation': 0.027962962962962964, 'length': 1000.0, 'failure': 0.0, 'distance': 710.7457091395713, 'return': 14584.68656015825, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:55,872Z INFO episode phase=validation condition=speed_random2__+0.0500 seed=110004 metrics={'x_velocity': 15.807576535069476, 'y_velocity': 0.0, 'planar_speed': 15.807576535069476, 'height': 0.5950236901810133, 'yaw_rate': 0.0, 'effort': 0.6869114767180549, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.395429649144608, 'saturation': 0.03, 'length': 1000.0, 'failure': 0.0, 'distance': 711.3409440781265, 'return': 14641.05461466616, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:55,888Z INFO episode phase=validation condition=speed_random2__+0.0500 seed=110006 metrics={'x_velocity': 15.04734072880205, 'y_velocity': 0.0, 'planar_speed': 15.04734072880205, 'height': 0.6132936040026228, 'yaw_rate': 0.0, 'effort': 0.6774467176530097, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.64087269824336, 'saturation': 0.035925925925925924, 'length': 1000.0, 'failure': 0.0, 'distance': 677.1303327960923, 'return': 13935.724250651196, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:55,902Z INFO episode phase=validation condition=speed_random2__+0.0500 seed=110007 metrics={'x_velocity': 15.449437600125773, 'y_velocity': 0.0, 'planar_speed': 15.449437600125773, 'height': 0.6032710645273567, 'yaw_rate': 0.0, 'effort': 0.6759696498513221, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.043855810287827, 'saturation': 0.034999999999999996, 'length': 1000.0, 'failure': 0.0, 'distance': 695.2246920056598, 'return': 14386.23322267564, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:56,806Z INFO episode phase=validation condition=speed_random2__+0.0500 seed=110008 metrics={'x_velocity': 15.923908653637174, 'y_velocity': 0.0, 'planar_speed': 15.923908653637174, 'height': 0.5935739095665215, 'yaw_rate': 0.0, 'effort': 0.6933106632033984, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.507922255390621, 'saturation': 0.02666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 716.5758894136729, 'return': 14748.087857419798, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:56,823Z INFO episode phase=validation condition=speed_random2__+0.0500 seed=110009 metrics={'x_velocity': 16.11167780172549, 'y_velocity': 0.0, 'planar_speed': 16.11167780172549, 'height': 0.5901312667953617, 'yaw_rate': 0.0, 'effort': 0.6965450897481706, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.69375074702888, 'saturation': 0.020740740740740737, 'length': 1000.0, 'failure': 0.0, 'distance': 725.0255010776473, 'return': 14906.123318061898, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:56,833Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': 0.05, 'effect': {'behavior': 'speed', 'effect': -1.1625589334348667, 'ci95': [-1.3582218848158039, -0.9808205238690295], 'relative_effect': -0.06921856724504113, 'baseline_mean': 16.795478145614943, 'treated_mean': 15.632919212180076, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.632919212180076, 'effort': 0.6855399820423788, 'height': 0.5989796123156678, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 15.632919212180076, 'saturation': 0.02987037037037037, 'reward': 15.221595222872192, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:12:57,796Z INFO episode phase=validation condition=speed_random2__+0.1000 seed=110000 metrics={'x_velocity': 10.399511383852682, 'y_velocity': 0.0, 'planar_speed': 10.412167977685474, 'height': 0.6240315578809859, 'yaw_rate': 0.0, 'effort': 0.5028392346410288, 'inversion': 0.011111111111111112, 'bad_contact': 0.20555555555555555, 'reward': 10.097807843630997, 'saturation': 0.04444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 467.9780122733707, 'return': 9822.64410160678, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:12:57,823Z INFO episode phase=validation condition=speed_random2__+0.1000 seed=110001 metrics={'x_velocity': 14.047204445873358, 'y_velocity': 0.0, 'planar_speed': 14.047204445873358, 'height': 0.6263666403134072, 'yaw_rate': 0.0, 'effort': 0.6525986001557774, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.655645285985196, 'saturation': 0.05574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 632.1242000643011, 'return': 12972.94350651752, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:12:57,839Z INFO episode phase=validation condition=speed_random2__+0.1000 seed=110002 metrics={'x_velocity': 14.561735356920932, 'y_velocity': 0.0, 'planar_speed': 14.561735356920932, 'height': 0.6170122359869321, 'yaw_rate': 0.0, 'effort': 0.6671468302441967, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.16144725878435, 'saturation': 0.06111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 655.278091061442, 'return': 13509.520784529715, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:12:57,853Z INFO episode phase=validation condition=speed_random2__+0.1000 seed=110003 metrics={'x_velocity': 13.438522819218703, 'y_velocity': 0.0, 'planar_speed': 13.438522819218703, 'height': 0.6293294748351898, 'yaw_rate': 0.0, 'effort': 0.6434800516275896, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.052434788589014, 'saturation': 0.0537037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 604.7335268648416, 'return': 12581.963238805121, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:12:58,745Z INFO episode phase=validation condition=speed_random2__+0.1000 seed=110004 metrics={'x_velocity': 13.964062842635046, 'y_velocity': 0.0, 'planar_speed': 13.964062842635046, 'height': 0.6250405991521895, 'yaw_rate': 0.0, 'effort': 0.6547759560247263, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.571197268831462, 'saturation': 0.05685185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 628.3828279185772, 'return': 12999.24547238433, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:12:58,791Z INFO episode phase=validation condition=speed_random2__+0.1000 seed=110005 metrics={'x_velocity': 14.17403265348894, 'y_velocity': 0.0, 'planar_speed': 14.17403265348894, 'height': 0.6215963671137618, 'yaw_rate': 0.0, 'effort': 0.6665434323085679, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.774106592931572, 'saturation': 0.06092592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 637.8314694070023, 'return': 13138.513794940121, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:12:58,806Z INFO episode phase=validation condition=speed_random2__+0.1000 seed=110007 metrics={'x_velocity': 14.07234060132908, 'y_velocity': 0.0, 'planar_speed': 14.07234060132908, 'height': 0.6225665876731596, 'yaw_rate': 0.0, 'effort': 0.6608195901910464, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.675848847313791, 'saturation': 0.06185185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 633.2553270598087, 'return': 13155.02695599901, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:12:58,826Z INFO episode phase=validation condition=speed_random2__+0.1000 seed=110006 metrics={'x_velocity': 14.141822577933668, 'y_velocity': 0.0, 'planar_speed': 14.141822577933668, 'height': 0.6315619346893476, 'yaw_rate': 0.0, 'effort': 0.6588168970743815, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.74653243963606, 'saturation': 0.06259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 636.3820160070151, 'return': 13130.818017904625, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:12:59,775Z INFO episode phase=validation condition=speed_random2__+0.1000 seed=110008 metrics={'x_velocity': 14.382828527074278, 'y_velocity': 0.0, 'planar_speed': 14.382828527074278, 'height': 0.6209535456689043, 'yaw_rate': 0.0, 'effort': 0.6689749944541189, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.981443530222993, 'saturation': 0.06018518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 647.2272837183425, 'return': 13374.257004768931, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:12:59,826Z INFO episode phase=validation condition=speed_random2__+0.1000 seed=110009 metrics={'x_velocity': 3.1561434123176837, 'y_velocity': 0.0, 'planar_speed': 3.1562243697894203, 'height': 0.26153561112076995, 'yaw_rate': 0.0, 'effort': 0.1859835867045654, 'inversion': 0.7777777777777778, 'bad_contact': 0.7344444444444445, 'reward': 3.044553260683202, 'saturation': 0.017037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 142.02645355429578, 'return': 3521.845580350786, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:12:59,839Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': 0.1, 'effect': {'behavior': 'speed', 'effect': -4.161657683550503, 'ci95': [-6.643037714957438, -2.623472961290606], 'relative_effect': -0.24778441241561508, 'baseline_mean': 16.795478145614943, 'treated_mean': 12.633820462064438, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.633820462064438, 'effort': 0.5961979173425999, 'height': 0.5879994554434648, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.07888888888888888, 'bad_contact': 0.094, 'planar_speed': 12.63509421719489, 'saturation': 0.05344444444444445, 'reward': 12.276101711660862, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.07888888888888888, 'bad_contact': 0.094, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:00,958Z INFO episode phase=validation condition=speed_random2__+0.2000 seed=110001 metrics={'x_velocity': 1.5861765304391156, 'y_velocity': 0.0, 'planar_speed': 1.588303149523213, 'height': 0.5221332876691244, 'yaw_rate': 0.0, 'effort': 0.09420046089630987, 'inversion': 0.027777777777777776, 'bad_contact': 0.8433333333333334, 'reward': 1.529656254054067, 'saturation': 0.0077777777777777776, 'length': 1000.0, 'failure': 0.0, 'distance': 71.3779438697602, 'return': 2059.5533777795063, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:00,983Z INFO episode phase=validation condition=speed_random2__+0.2000 seed=110000 metrics={'x_velocity': 8.854673795464869, 'y_velocity': 0.0, 'planar_speed': 8.861954534828062, 'height': 0.6097902192538671, 'yaw_rate': 0.0, 'effort': 0.4107382063857383, 'inversion': 0.011111111111111112, 'bad_contact': 0.31444444444444447, 'reward': 8.608230871303117, 'saturation': 0.035, 'length': 1000.0, 'failure': 0.0, 'distance': 398.4603207959192, 'return': 8482.02482651169, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:01,000Z INFO episode phase=validation condition=speed_random2__+0.2000 seed=110003 metrics={'x_velocity': 13.405587548443961, 'y_velocity': 0.0, 'planar_speed': 13.405587548443961, 'height': 0.6428873921889091, 'yaw_rate': 0.0, 'effort': 0.6077324617405733, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.04094807093934, 'saturation': 0.04648148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 603.2514396799783, 'return': 12571.625192920415, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:01,016Z INFO episode phase=validation condition=speed_random2__+0.2000 seed=110002 metrics={'x_velocity': 13.56288151954895, 'y_velocity': 0.0, 'planar_speed': 13.56288151954895, 'height': 0.637609201560631, 'yaw_rate': 0.0, 'effort': 0.6106901165346305, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.196467449969244, 'saturation': 0.05407407407407408, 'length': 1000.0, 'failure': 0.0, 'distance': 610.3296683797029, 'return': 12641.038956596118, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:02,024Z INFO episode phase=validation condition=speed_random2__+0.2000 seed=110004 metrics={'x_velocity': 13.949341659329331, 'y_velocity': 0.0, 'planar_speed': 13.949341659329331, 'height': 0.6353251054982164, 'yaw_rate': 0.0, 'effort': 0.61559054699209, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.579987330908905, 'saturation': 0.05166666666666666, 'length': 1000.0, 'failure': 0.0, 'distance': 627.72037466982, 'return': 13007.156528254025, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:02,045Z INFO episode phase=validation condition=speed_random2__+0.2000 seed=110007 metrics={'x_velocity': 6.199226830593563, 'y_velocity': 0.0, 'planar_speed': 6.2611913843816485, 'height': 0.38300593473314226, 'yaw_rate': 0.0, 'effort': 0.40264046598846714, 'inversion': 0.5766666666666667, 'bad_contact': 0.28888888888888886, 'reward': 5.9576425505075035, 'saturation': 0.030740740740740742, 'length': 1000.0, 'failure': 0.0, 'distance': 278.96520737671034, 'return': 6208.64128887335, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:02,060Z INFO episode phase=validation condition=speed_random2__+0.2000 seed=110005 metrics={'x_velocity': 5.130675813916483, 'y_velocity': 0.0, 'planar_speed': 5.1354501859614565, 'height': 0.5536947337611826, 'yaw_rate': 0.0, 'effort': 0.24156293192050524, 'inversion': 0.02666666666666667, 'bad_contact': 0.5811111111111111, 'reward': 4.985738054573361, 'saturation': 0.017777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 230.88041162624174, 'return': 5228.98211041773, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:02,076Z INFO episode phase=validation condition=speed_random2__+0.2000 seed=110006 metrics={'x_velocity': 8.274437485991152, 'y_velocity': 0.0, 'planar_speed': 8.285476253620773, 'height': 0.6201222884168445, 'yaw_rate': 0.0, 'effort': 0.401756743716283, 'inversion': 0.024444444444444446, 'bad_contact': 0.31777777777777777, 'reward': 8.03338343947288, 'saturation': 0.04037037037037036, 'length': 1000.0, 'failure': 0.0, 'distance': 372.34968686960184, 'return': 7988.983917757764, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:02,980Z INFO episode phase=validation condition=speed_random2__+0.2000 seed=110008 metrics={'x_velocity': 12.151840074769343, 'y_velocity': 0.0, 'planar_speed': 12.151840074769343, 'height': 0.6554258489342657, 'yaw_rate': 0.0, 'effort': 0.6292048205766413, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.774317182261099, 'saturation': 0.07944444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 546.8328033646204, 'return': 11387.843291603229, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:02,997Z INFO episode phase=validation condition=speed_random2__+0.2000 seed=110009 metrics={'x_velocity': 7.823327418078793, 'y_velocity': 0.0, 'planar_speed': 7.832103798958493, 'height': 0.5925875502755338, 'yaw_rate': 0.0, 'effort': 0.3689958229660988, 'inversion': 0.035555555555555556, 'bad_contact': 0.38555555555555554, 'reward': 7.601929924203104, 'saturation': 0.03277777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 352.0497338135457, 'return': 7623.484577518698, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:03,007Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': 0.2, 'effect': {'behavior': 'speed', 'effect': -7.701661277957385, 'ci95': [-10.18696807492601, -5.373363058162158], 'relative_effect': -0.4585556428453439, 'baseline_mean': 16.795478145614943, 'treated_mean': 9.093816867657555, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 9.093816867657555, 'effort': 0.4383112577717337, 'height': 0.5852581562291717, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.07022222222222221, 'bad_contact': 0.2731111111111111, 'planar_speed': 9.103413010936524, 'saturation': 0.03961111111111111, 'reward': 8.830830112819262, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.07022222222222221, 'bad_contact': 0.2731111111111111, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:03,993Z INFO episode phase=validation condition=speed_random2__+0.5000 seed=110001 metrics={'x_velocity': 0.6598327094682951, 'y_velocity': 0.0, 'planar_speed': 0.6668189163198003, 'height': 0.49809981698975814, 'yaw_rate': 0.0, 'effort': 0.07113057137777408, 'inversion': 0.008888888888888889, 'bad_contact': 0.9111111111111111, 'reward': 0.6171543666242457, 'saturation': 0.009074074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 29.69247192607328, 'return': 1238.3016790926672, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:04,009Z INFO episode phase=validation condition=speed_random2__+0.5000 seed=110002 metrics={'x_velocity': 1.7963607052117971, 'y_velocity': 0.0, 'planar_speed': 2.079358430604795, 'height': 0.5341950973511667, 'yaw_rate': 0.0, 'effort': 0.6720996382666958, 'inversion': 0.0, 'bad_contact': 0.32666666666666666, 'reward': 1.3931009227517963, 'saturation': 0.21314814814814811, 'length': 1000.0, 'failure': 0.0, 'distance': 80.83623173453088, 'return': 2018.0090821004158, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:04,025Z INFO episode phase=validation condition=speed_random2__+0.5000 seed=110000 metrics={'x_velocity': 2.138037767994082, 'y_velocity': 0.0, 'planar_speed': 2.21352141619091, 'height': 0.2989238001127655, 'yaw_rate': 0.0, 'effort': 0.32896870994423, 'inversion': 0.72, 'bad_contact': 0.49333333333333335, 'reward': 1.940656541838589, 'saturation': 0.06833333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 96.21169955973369, 'return': 2481.207929993613, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:04,041Z INFO episode phase=validation condition=speed_random2__+0.5000 seed=110003 metrics={'x_velocity': 3.092668278281453, 'y_velocity': 0.0, 'planar_speed': 3.318660034197891, 'height': 0.6010862893198055, 'yaw_rate': 0.0, 'effort': 0.6718711069391834, 'inversion': 0.0, 'bad_contact': 0.08444444444444445, 'reward': 2.689545614240464, 'saturation': 0.23759259259259258, 'length': 1000.0, 'failure': 0.0, 'distance': 139.1700725226654, 'return': 3255.362981891428, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:04,911Z INFO episode phase=validation condition=speed_random2__+0.5000 seed=110004 metrics={'x_velocity': 1.1637503660000137, 'y_velocity': 0.0, 'planar_speed': 1.1700692131019608, 'height': 0.5109837181842762, 'yaw_rate': 0.0, 'effort': 0.1183352922834456, 'inversion': 0.014444444444444444, 'bad_contact': 0.8366666666666667, 'reward': 1.0927491906775473, 'saturation': 0.027037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 52.36876647000062, 'return': 1768.6422020458049, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:04,944Z INFO episode phase=validation condition=speed_random2__+0.5000 seed=110005 metrics={'x_velocity': 4.40209984328611, 'y_velocity': 0.0, 'planar_speed': 4.40813334588005, 'height': 0.6559080835849802, 'yaw_rate': 0.0, 'effort': 0.6638094748059908, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 4.003814158296552, 'saturation': 0.2537037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 198.09449294787498, 'return': 4345.250603768602, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:04,960Z INFO episode phase=validation condition=speed_random2__+0.5000 seed=110006 metrics={'x_velocity': 2.143431106905579, 'y_velocity': 0.0, 'planar_speed': 2.523612640771992, 'height': 0.5683519711002215, 'yaw_rate': 0.0, 'effort': 0.673913588060273, 'inversion': 0.0, 'bad_contact': 0.11777777777777777, 'reward': 1.7390829539038466, 'saturation': 0.23537037037037034, 'length': 1000.0, 'failure': 0.0, 'distance': 96.45439981075106, 'return': 2324.1134807456347, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:04,975Z INFO episode phase=validation condition=speed_random2__+0.5000 seed=110007 metrics={'x_velocity': 1.1177854175347086, 'y_velocity': 0.0, 'planar_speed': 1.2205617003738618, 'height': 0.18954658471582056, 'yaw_rate': 0.0, 'effort': 0.22933970125185119, 'inversion': 0.9377777777777778, 'bad_contact': 0.6666666666666666, 'reward': 0.9801815970004928, 'saturation': 0.01648148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 50.30034378906189, 'return': 1728.9264307170397, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:05,919Z INFO episode phase=validation condition=speed_random2__+0.5000 seed=110008 metrics={'x_velocity': 2.9767027942636295, 'y_velocity': 0.0, 'planar_speed': 3.0210718553875875, 'height': 0.4291470670926879, 'yaw_rate': 0.0, 'effort': 0.44811886198197803, 'inversion': 0.47444444444444445, 'bad_contact': 0.33444444444444443, 'reward': 2.707831476884039, 'saturation': 0.12851851851851853, 'length': 1000.0, 'failure': 0.0, 'distance': 133.95162574186335, 'return': 3228.0061567638745, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:05,948Z INFO episode phase=validation condition=speed_random2__+0.5000 seed=110009 metrics={'x_velocity': 1.2960103024029868, 'y_velocity': 0.0, 'planar_speed': 1.3876030753414734, 'height': 0.19977839725371366, 'yaw_rate': 0.0, 'effort': 0.24118682713661757, 'inversion': 0.9244444444444444, 'bad_contact': 0.6433333333333333, 'reward': 1.1512982061241206, 'saturation': 0.02037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 58.3204636081344, 'return': 1817.9160312476122, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:05,960Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': 0.5, 'effect': {'behavior': 'speed', 'effect': -14.716810216480075, 'ci95': [-15.36425068482246, -14.025134496081858], 'relative_effect': -0.8762364541745673, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.0786679291348653, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.0786679291348653, 'effort': 0.411877377204804, 'height': 0.4486020825705196, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.308, 'bad_contact': 0.4417777777777777, 'planar_speed': 2.2009410628170323, 'saturation': 0.12096296296296294, 'reward': 1.8315415028341693, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.308, 'bad_contact': 0.4417777777777777, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:06,890Z INFO episode phase=validation condition=speed_shuffled__-0.5000 seed=110002 metrics={'x_velocity': 1.2011437836968826, 'y_velocity': 0.0, 'planar_speed': 1.4268341995937903, 'height': 0.24199321225021483, 'yaw_rate': 0.0, 'effort': 0.42827043157484795, 'inversion': 0.9411111111111111, 'bad_contact': 0.36, 'reward': 0.9441815250094326, 'saturation': 0.0374074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 54.05147026635972, 'return': 1613.9816241322887, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:06,907Z INFO episode phase=validation condition=speed_shuffled__-0.5000 seed=110000 metrics={'x_velocity': 0.563102306570952, 'y_velocity': 0.0, 'planar_speed': 0.5806806637590074, 'height': 0.6173487490669488, 'yaw_rate': 0.0, 'effort': 0.04753855065287401, 'inversion': 0.012222222222222223, 'bad_contact': 0.9233333333333333, 'reward': 0.5345791761604977, 'saturation': 0.006666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 25.339603795692838, 'return': 1215.7383008833312, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:06,924Z INFO episode phase=validation condition=speed_shuffled__-0.5000 seed=110001 metrics={'x_velocity': 1.237486661957416, 'y_velocity': 0.0, 'planar_speed': 1.4716835941271509, 'height': 0.24442192717247369, 'yaw_rate': 0.0, 'effort': 0.44058846411605673, 'inversion': 0.9422222222222222, 'bad_contact': 0.33555555555555555, 'reward': 0.973133583698054, 'saturation': 0.039259259259259265, 'length': 1000.0, 'failure': 0.0, 'distance': 55.68689978808373, 'return': 1558.6829744590948, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:06,942Z INFO episode phase=validation condition=speed_shuffled__-0.5000 seed=110003 metrics={'x_velocity': 0.7736891980286208, 'y_velocity': 0.0, 'planar_speed': 0.7739942614011409, 'height': 0.43389775842058526, 'yaw_rate': 0.0, 'effort': 0.8648894899752405, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 0.25475550393088986, 'saturation': 0.6518518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 34.81601391128793, 'return': 1064.051882612811, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:07,842Z INFO episode phase=validation condition=speed_shuffled__-0.5000 seed=110004 metrics={'x_velocity': 0.6458824630942428, 'y_velocity': 0.0, 'planar_speed': 0.6642884649180468, 'height': 0.6261913706025006, 'yaw_rate': 0.0, 'effort': 0.057306162326389715, 'inversion': 0.011111111111111112, 'bad_contact': 0.9144444444444444, 'reward': 0.6114987656217301, 'saturation': 0.018333333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 29.06471083924093, 'return': 1335.5168194955693, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:07,866Z INFO episode phase=validation condition=speed_shuffled__-0.5000 seed=110005 metrics={'x_velocity': 0.41547799604464253, 'y_velocity': 0.0, 'planar_speed': 0.9552242601311222, 'height': 0.47265776992373876, 'yaw_rate': 0.0, 'effort': 0.839626032974985, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': -0.0882976241642037, 'saturation': 0.647962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 18.696509822008917, 'return': 662.3499995539216, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:07,884Z INFO episode phase=validation condition=speed_shuffled__-0.5000 seed=110006 metrics={'x_velocity': 0.6210874120024045, 'y_velocity': 0.0, 'planar_speed': 0.6213805900936687, 'height': 0.4304456111705358, 'yaw_rate': 0.0, 'effort': 0.8707360013160441, 'inversion': 0.0011111111111111111, 'bad_contact': 0.0, 'reward': 0.09864581154060356, 'saturation': 0.6661111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 27.948933540108204, 'return': 847.7200526187158, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:07,900Z INFO episode phase=validation condition=speed_shuffled__-0.5000 seed=110007 metrics={'x_velocity': 0.6354412579068222, 'y_velocity': 0.0, 'planar_speed': 0.6540372805657577, 'height': 0.6233031112899461, 'yaw_rate': 0.0, 'effort': 0.046197096083002785, 'inversion': 0.02, 'bad_contact': 0.9222222222222223, 'reward': 0.607723000247604, 'saturation': 0.007037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 28.594856605806996, 'return': 1393.7136936394395, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:08,907Z INFO episode phase=validation condition=speed_shuffled__-0.5000 seed=110008 metrics={'x_velocity': 0.6253880227115337, 'y_velocity': 0.0, 'planar_speed': 0.6257891766398822, 'height': 0.4242057426333564, 'yaw_rate': 0.0, 'effort': 0.8705232141746415, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 0.10307409398819832, 'saturation': 0.6644444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 28.14246102201902, 'return': 883.7245121576177, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:08,954Z INFO episode phase=validation condition=speed_shuffled__-0.5000 seed=110009 metrics={'x_velocity': 0.6117474599957771, 'y_velocity': 0.0, 'planar_speed': 0.6120345236037782, 'height': 0.42152907744101675, 'yaw_rate': 0.0, 'effort': 0.8676049705346426, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 0.09118447751604597, 'saturation': 0.6638888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 27.528635699809968, 'return': 863.8136755003454, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:08,964Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': -0.5, 'effect': {'behavior': 'speed', 'effect': -16.062433489414012, 'ci95': [-16.200052435586926, -15.871122819283055], 'relative_effect': -0.9563546420146235, 'baseline_mean': 16.795478145614943, 'treated_mean': 0.7330446562009294, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 0.7330446562009294, 'effort': 0.5333280413728725, 'height': 0.45359943299713174, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.19277777777777777, 'bad_contact': 0.3456666666666667, 'planar_speed': 0.8385947014833347, 'saturation': 0.34029629629629626, 'reward': 0.41304783135488526, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.19277777777777777, 'bad_contact': 0.3456666666666667, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:09,995Z INFO episode phase=validation condition=speed_shuffled__-0.2000 seed=110001 metrics={'x_velocity': 0.6872441116938548, 'y_velocity': 0.0, 'planar_speed': 0.6872955019912044, 'height': 0.1660232753427864, 'yaw_rate': 0.0, 'effort': 0.053460959407190485, 'inversion': 0.9711111111111111, 'bad_contact': 0.9222222222222223, 'reward': 0.6551675363202452, 'saturation': 0.005555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 30.925985026223465, 'return': 1272.5135318190669, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:10,045Z INFO episode phase=validation condition=speed_shuffled__-0.2000 seed=110002 metrics={'x_velocity': 2.8230659265845466, 'y_velocity': 0.0, 'planar_speed': 2.897544092584672, 'height': 0.6047930014604543, 'yaw_rate': 0.0, 'effort': 0.7030360654162036, 'inversion': 0.0, 'bad_contact': 0.0044444444444444444, 'reward': 2.4012442874043636, 'saturation': 0.2801851851851852, 'length': 1000.0, 'failure': 0.0, 'distance': 127.03796669630461, 'return': 2925.338110287726, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:10,062Z INFO episode phase=validation condition=speed_shuffled__-0.2000 seed=110000 metrics={'x_velocity': 3.6727327407893586, 'y_velocity': 0.0, 'planar_speed': 3.7099362315826365, 'height': 0.6384348557658206, 'yaw_rate': 0.0, 'effort': 0.6999963520922594, 'inversion': 0.0, 'bad_contact': 0.005555555555555556, 'reward': 3.2527349295613224, 'saturation': 0.27574074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 165.27297333552116, 'return': 3662.078478944073, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:10,078Z INFO episode phase=validation condition=speed_shuffled__-0.2000 seed=110003 metrics={'x_velocity': 3.937616138781205, 'y_velocity': 0.0, 'planar_speed': 3.9392877260440455, 'height': 0.6344722933380268, 'yaw_rate': 0.0, 'effort': 0.6943837049106757, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.520985915427501, 'saturation': 0.2598148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 177.19272624515423, 'return': 4003.659252959761, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:11,107Z INFO episode phase=validation condition=speed_shuffled__-0.2000 seed=110004 metrics={'x_velocity': 2.8838826494480783, 'y_velocity': 0.0, 'planar_speed': 2.9736306867320854, 'height': 0.5885339511046881, 'yaw_rate': 0.0, 'effort': 0.7098527052501837, 'inversion': 0.0, 'bad_contact': 0.006666666666666667, 'reward': 2.457971026274788, 'saturation': 0.3114814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 129.77471922516352, 'return': 2997.3418540833213, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:11,137Z INFO episode phase=validation condition=speed_shuffled__-0.2000 seed=110006 metrics={'x_velocity': 3.2172533513209793, 'y_velocity': 0.0, 'planar_speed': 3.3198074079399764, 'height': 0.6308383464617412, 'yaw_rate': 0.0, 'effort': 0.6981237930928668, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 2.7983790752160784, 'saturation': 0.26944444444444443, 'length': 1000.0, 'failure': 0.0, 'distance': 144.77640080944408, 'return': 3277.4799899266427, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:11,156Z INFO episode phase=validation condition=speed_shuffled__-0.2000 seed=110005 metrics={'x_velocity': 2.6016145940657944, 'y_velocity': 0.0, 'planar_speed': 2.723628207149456, 'height': 0.6325270499659212, 'yaw_rate': 0.0, 'effort': 0.6626822402535213, 'inversion': 0.0022222222222222222, 'bad_contact': 0.056666666666666664, 'reward': 2.2040052500403413, 'saturation': 0.23314814814814816, 'length': 1000.0, 'failure': 0.0, 'distance': 117.07265673296075, 'return': 2725.422586338012, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:11,175Z INFO episode phase=validation condition=speed_shuffled__-0.2000 seed=110007 metrics={'x_velocity': 3.7388628537008763, 'y_velocity': 0.0, 'planar_speed': 3.7470601946630318, 'height': 0.6525075958504613, 'yaw_rate': 0.0, 'effort': 0.6985912600490782, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 3.319708097711166, 'saturation': 0.2677777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 168.24882841653945, 'return': 3834.5002813566452, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:12,176Z INFO episode phase=validation condition=speed_shuffled__-0.2000 seed=110008 metrics={'x_velocity': 0.6654174785904532, 'y_velocity': 0.0, 'planar_speed': 0.6803770423392644, 'height': 0.6077018723770395, 'yaw_rate': 0.0, 'effort': 0.05563801829496191, 'inversion': 0.013333333333333334, 'bad_contact': 0.9144444444444444, 'reward': 0.6320346676219615, 'saturation': 0.012407407407407405, 'length': 1000.0, 'failure': 0.0, 'distance': 29.943786536570396, 'return': 1359.7890284280043, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:12,211Z INFO episode phase=validation condition=speed_shuffled__-0.2000 seed=110009 metrics={'x_velocity': 3.087096372903346, 'y_velocity': 0.0, 'planar_speed': 3.1106132320853814, 'height': 0.6261755330360781, 'yaw_rate': 0.0, 'effort': 0.6961666822102335, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 2.6693963632725595, 'saturation': 0.27296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 138.91933678065058, 'return': 3184.204372681208, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:12,220Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': -0.2, 'effect': {'behavior': 'speed', 'effect': -14.063999523827093, 'ci95': [-14.732323861571361, -13.450550852168938], 'relative_effect': -0.8373682131520025, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.731478621787849, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.731478621787849, 'effort': 0.5671931780977175, 'height': 0.5782007774703019, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09866666666666667, 'bad_contact': 0.19155555555555553, 'planar_speed': 2.778918032311175, 'saturation': 0.21885185185185185, 'reward': 2.391162714885033, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09866666666666667, 'bad_contact': 0.19155555555555553, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:13,186Z INFO episode phase=validation condition=speed_shuffled__-0.1000 seed=110001 metrics={'x_velocity': 10.103755344632576, 'y_velocity': 0.0, 'planar_speed': 10.103755344632576, 'height': 0.637813039426227, 'yaw_rate': 0.0, 'effort': 0.6979388475500875, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.684992036266436, 'saturation': 0.16537037037037036, 'length': 1000.0, 'failure': 0.0, 'distance': 454.668990508466, 'return': 9399.35558177064, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:13,201Z INFO episode phase=validation condition=speed_shuffled__-0.1000 seed=110002 metrics={'x_velocity': 8.824304911843273, 'y_velocity': 0.0, 'planar_speed': 8.825236270060122, 'height': 0.6468233323109066, 'yaw_rate': 0.0, 'effort': 0.7000066894748145, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 8.40430089817577, 'saturation': 0.18314814814814812, 'length': 1000.0, 'failure': 0.0, 'distance': 397.0937210329473, 'return': 8328.089059981992, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:13,243Z INFO episode phase=validation condition=speed_shuffled__-0.1000 seed=110003 metrics={'x_velocity': 9.805718621801164, 'y_velocity': 0.0, 'planar_speed': 9.805718621801164, 'height': 0.6387972761881906, 'yaw_rate': 0.0, 'effort': 0.7122009081145128, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.37839807698875, 'saturation': 0.1796296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 441.2573379810524, 'return': 9275.330198364885, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:13,259Z INFO episode phase=validation condition=speed_shuffled__-0.1000 seed=110000 metrics={'x_velocity': 9.296389082987464, 'y_velocity': 0.0, 'planar_speed': 9.296389082987464, 'height': 0.6478324556303513, 'yaw_rate': 0.0, 'effort': 0.7047142151494821, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 8.873560553603062, 'saturation': 0.18703703703703706, 'length': 1000.0, 'failure': 0.0, 'distance': 418.3375087344359, 'return': 8720.82154058164, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:14,129Z INFO episode phase=validation condition=speed_shuffled__-0.1000 seed=110004 metrics={'x_velocity': 5.1156240335197625, 'y_velocity': 0.0, 'planar_speed': 5.1781517695148365, 'height': 0.3956629701409874, 'yaw_rate': 0.0, 'effort': 0.45392647015758686, 'inversion': 0.5966666666666667, 'bad_contact': 0.26, 'reward': 4.843268151476123, 'saturation': 0.0661111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 230.20308150838935, 'return': 5144.1092667645225, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:14,143Z INFO episode phase=validation condition=speed_shuffled__-0.1000 seed=110006 metrics={'x_velocity': 9.487023022895036, 'y_velocity': 0.0, 'planar_speed': 9.487023022895036, 'height': 0.6517677677280638, 'yaw_rate': 0.0, 'effort': 0.6995100435200665, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.067316996784651, 'saturation': 0.18037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 426.91603603027664, 'return': 8919.524119338357, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:14,160Z INFO episode phase=validation condition=speed_shuffled__-0.1000 seed=110007 metrics={'x_velocity': 9.875374148786191, 'y_velocity': 0.0, 'planar_speed': 9.875374148786191, 'height': 0.6542028536448418, 'yaw_rate': 0.0, 'effort': 0.704616655467285, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.452604155752518, 'saturation': 0.16666666666666666, 'length': 1000.0, 'failure': 0.0, 'distance': 444.39183669537863, 'return': 9354.106733593862, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:14,178Z INFO episode phase=validation condition=speed_shuffled__-0.1000 seed=110005 metrics={'x_velocity': 8.210395909308177, 'y_velocity': 0.0, 'planar_speed': 8.22674735940217, 'height': 0.6297216385804293, 'yaw_rate': 0.0, 'effort': 0.7080388448470168, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 7.785572602462884, 'saturation': 0.19296296296296298, 'length': 1000.0, 'failure': 0.0, 'distance': 369.46781591886804, 'return': 7748.833203518299, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:15,173Z INFO episode phase=validation condition=speed_shuffled__-0.1000 seed=110009 metrics={'x_velocity': 9.821635967207229, 'y_velocity': 0.0, 'planar_speed': 9.821635967207229, 'height': 0.64024355745641, 'yaw_rate': 0.0, 'effort': 0.6971616600205501, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.4033389709184, 'saturation': 0.16314814814814813, 'length': 1000.0, 'failure': 0.0, 'distance': 441.97361852432533, 'return': 9244.752719562464, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:15,188Z INFO episode phase=validation condition=speed_shuffled__-0.1000 seed=110008 metrics={'x_velocity': 10.050168871295746, 'y_velocity': 0.0, 'planar_speed': 10.050168871295746, 'height': 0.6397252320173243, 'yaw_rate': 0.0, 'effort': 0.6999110829333465, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.630222221631769, 'saturation': 0.17777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 452.25759920830865, 'return': 9458.15782703683, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:15,198Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': -0.1, 'effect': {'behavior': 'speed', 'effect': -7.736439154187279, 'ci95': [-8.787006955698445, -7.029086736839179], 'relative_effect': -0.4606263118628243, 'baseline_mean': 16.795478145614943, 'treated_mean': 9.059038991427663, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 9.059038991427663, 'effort': 0.677802541723475, 'height': 0.6182590123123732, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.059666666666666666, 'bad_contact': 0.026444444444444448, 'planar_speed': 9.067020045858253, 'saturation': 0.16622222222222222, 'reward': 8.652357466406036, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.059666666666666666, 'bad_contact': 0.026444444444444448, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:16,199Z INFO episode phase=validation condition=speed_shuffled__-0.0500 seed=110002 metrics={'x_velocity': 12.028044985235343, 'y_velocity': 0.0, 'planar_speed': 12.028044985235343, 'height': 0.6532774392207006, 'yaw_rate': 0.0, 'effort': 0.6767630349596342, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.621987163921803, 'saturation': 0.10092592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 541.2620243355905, 'return': 11224.006699153422, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:16,217Z INFO episode phase=validation condition=speed_shuffled__-0.0500 seed=110001 metrics={'x_velocity': 13.198848409223213, 'y_velocity': 0.0, 'planar_speed': 13.198848409223213, 'height': 0.6284142695490126, 'yaw_rate': 0.0, 'effort': 0.6853022417260541, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.787667064488916, 'saturation': 0.08962962962962961, 'length': 1000.0, 'failure': 0.0, 'distance': 593.9481784150447, 'return': 12191.763107170871, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:16,244Z INFO episode phase=validation condition=speed_shuffled__-0.0500 seed=110000 metrics={'x_velocity': 13.458149182286718, 'y_velocity': 0.0, 'planar_speed': 13.458149182286718, 'height': 0.626326054152305, 'yaw_rate': 0.0, 'effort': 0.6877930459214582, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.045473355359693, 'saturation': 0.09, 'length': 1000.0, 'failure': 0.0, 'distance': 605.6167132029024, 'return': 12475.543062162607, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:16,261Z INFO episode phase=validation condition=speed_shuffled__-0.0500 seed=110003 metrics={'x_velocity': 12.88815573287329, 'y_velocity': 0.0, 'planar_speed': 12.88815573287329, 'height': 0.6373113802014161, 'yaw_rate': 0.0, 'effort': 0.690700617465708, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.473735362056104, 'saturation': 0.09777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 579.967007979298, 'return': 12061.133754925504, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:17,264Z INFO episode phase=validation condition=speed_shuffled__-0.0500 seed=110004 metrics={'x_velocity': 7.840502881481068, 'y_velocity': 0.0, 'planar_speed': 7.844445441905735, 'height': 0.6170317740984345, 'yaw_rate': 0.0, 'effort': 0.4232117272965196, 'inversion': 0.02666666666666667, 'bad_contact': 0.3566666666666667, 'reward': 7.586575845073975, 'saturation': 0.05425925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 352.8226296666481, 'return': 7613.086191002589, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:17,282Z INFO episode phase=validation condition=speed_shuffled__-0.0500 seed=110005 metrics={'x_velocity': 13.048360625980257, 'y_velocity': 0.0, 'planar_speed': 13.048360625980257, 'height': 0.632449776908517, 'yaw_rate': 0.0, 'effort': 0.6902890091968907, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 12.634187220558152, 'saturation': 0.09574074074074072, 'length': 1000.0, 'failure': 0.0, 'distance': 587.1762281691116, 'return': 12112.586359804041, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:17,298Z INFO episode phase=validation condition=speed_shuffled__-0.0500 seed=110006 metrics={'x_velocity': 13.240980902422077, 'y_velocity': 0.0, 'planar_speed': 13.240980902422077, 'height': 0.635616536717506, 'yaw_rate': 0.0, 'effort': 0.6793618562486436, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.833363788460964, 'saturation': 0.08388888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 595.8441406089935, 'return': 12308.96623184704, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:17,313Z INFO episode phase=validation condition=speed_shuffled__-0.0500 seed=110007 metrics={'x_velocity': 12.539669145658753, 'y_velocity': 0.0, 'planar_speed': 12.539669145658753, 'height': 0.6478623695077779, 'yaw_rate': 0.0, 'effort': 0.6889403169188234, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 12.126304955239236, 'saturation': 0.0974074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 564.2851115546439, 'return': 11760.437453131908, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:18,208Z INFO episode phase=validation condition=speed_shuffled__-0.0500 seed=110008 metrics={'x_velocity': 13.650404395951167, 'y_velocity': 0.0, 'planar_speed': 13.650404395951167, 'height': 0.6213994187963048, 'yaw_rate': 0.0, 'effort': 0.6894213052590689, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.236751613140108, 'saturation': 0.08944444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 614.2681978178025, 'return': 12704.034279394335, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:18,236Z INFO episode phase=validation condition=speed_shuffled__-0.0500 seed=110009 metrics={'x_velocity': 6.583858489067178, 'y_velocity': 0.0, 'planar_speed': 6.583923429766857, 'height': 0.40214802355696566, 'yaw_rate': 0.0, 'effort': 0.349834544269575, 'inversion': 0.5266666666666666, 'bad_contact': 0.48333333333333334, 'reward': 6.373957762818356, 'saturation': 0.04611111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 296.273632008023, 'return': 6518.309632272425, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:18,248Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': -0.05, 'effect': {'behavior': 'speed', 'effect': -4.947780670597035, 'ci95': [-6.66632957388956, -3.6443242682573924], 'relative_effect': -0.2945900454694009, 'baseline_mean': 16.795478145614943, 'treated_mean': 11.847697475017906, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 11.847697475017906, 'effort': 0.6261617699262375, 'height': 0.610183704270894, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.055333333333333325, 'bad_contact': 0.08422222222222223, 'planar_speed': 11.84809822513034, 'saturation': 0.08451851851851852, 'reward': 11.47200041311173, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.055333333333333325, 'bad_contact': 0.08422222222222223, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:19,318Z INFO episode phase=validation condition=speed_shuffled__+0.0500 seed=110002 metrics={'x_velocity': 14.651733648721043, 'y_velocity': 0.0, 'planar_speed': 14.651733648721043, 'height': 0.6444205950627511, 'yaw_rate': 0.0, 'effort': 0.5825930139753553, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.302177839832503, 'saturation': 0.008518518518518517, 'length': 1000.0, 'failure': 0.0, 'distance': 659.328014192447, 'return': 13636.178307473052, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:19,338Z INFO episode phase=validation condition=speed_shuffled__+0.0500 seed=110001 metrics={'x_velocity': 14.631049065594558, 'y_velocity': 0.0, 'planar_speed': 14.631049065594558, 'height': 0.6464081923014953, 'yaw_rate': 0.0, 'effort': 0.5744516900016202, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.286378051206155, 'saturation': 0.006111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 658.3972079517551, 'return': 13540.602995216384, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:19,354Z INFO episode phase=validation condition=speed_shuffled__+0.0500 seed=110003 metrics={'x_velocity': 14.670536099144737, 'y_velocity': 0.0, 'planar_speed': 14.670536099144737, 'height': 0.6458888801219906, 'yaw_rate': 0.0, 'effort': 0.587310695151488, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.318149681676353, 'saturation': 0.010370370370370368, 'length': 1000.0, 'failure': 0.0, 'distance': 660.1741244615132, 'return': 13721.106642583727, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:19,369Z INFO episode phase=validation condition=speed_shuffled__+0.0500 seed=110000 metrics={'x_velocity': 7.095566211364744, 'y_velocity': 0.0, 'planar_speed': 7.155756546233651, 'height': 0.41745464375309793, 'yaw_rate': 0.0, 'effort': 0.40254440209000475, 'inversion': 0.5511111111111111, 'bad_contact': 0.27555555555555555, 'reward': 6.8540395699834615, 'saturation': 0.009814814814814813, 'length': 1000.0, 'failure': 0.0, 'distance': 319.3004795114135, 'return': 6903.252655323999, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:20,328Z INFO episode phase=validation condition=speed_shuffled__+0.0500 seed=110004 metrics={'x_velocity': 14.565041375478033, 'y_velocity': 0.0, 'planar_speed': 14.565041375478033, 'height': 0.6506869139753744, 'yaw_rate': 0.0, 'effort': 0.5821921297576692, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.21572609783536, 'saturation': 0.010185185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 655.4268618965116, 'return': 13579.321418487836, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:20,342Z INFO episode phase=validation condition=speed_shuffled__+0.0500 seed=110005 metrics={'x_velocity': 14.429584089833442, 'y_velocity': 0.0, 'planar_speed': 14.429584089833442, 'height': 0.6504675270347245, 'yaw_rate': 0.0, 'effort': 0.5856456682748264, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.07819668892815, 'saturation': 0.010925925925925924, 'length': 1000.0, 'failure': 0.0, 'distance': 649.331284042505, 'return': 13412.19488133704, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:20,358Z INFO episode phase=validation condition=speed_shuffled__+0.0500 seed=110006 metrics={'x_velocity': 7.999171184029849, 'y_velocity': 0.0, 'planar_speed': 8.007632767930392, 'height': 0.6166382075791048, 'yaw_rate': 0.0, 'effort': 0.3391253261143963, 'inversion': 0.013333333333333334, 'bad_contact': 0.4111111111111111, 'reward': 7.7956959880607055, 'saturation': 0.01648148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 359.96270328134324, 'return': 7775.065211486807, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:20,374Z INFO episode phase=validation condition=speed_shuffled__+0.0500 seed=110007 metrics={'x_velocity': 14.451794656735684, 'y_velocity': 0.0, 'planar_speed': 14.451794656735684, 'height': 0.6520880586111939, 'yaw_rate': 0.0, 'effort': 0.5862890049152905, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.100021253938833, 'saturation': 0.01, 'length': 1000.0, 'failure': 0.0, 'distance': 650.3307595531058, 'return': 13536.782121961543, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:21,262Z INFO episode phase=validation condition=speed_shuffled__+0.0500 seed=110008 metrics={'x_velocity': 14.563287037127782, 'y_velocity': 0.0, 'planar_speed': 14.563287037127782, 'height': 0.6521371662950044, 'yaw_rate': 0.0, 'effort': 0.5898889875743124, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.209353644894465, 'saturation': 0.01574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 655.3479166707502, 'return': 13579.376107973258, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:21,279Z INFO episode phase=validation condition=speed_shuffled__+0.0500 seed=110009 metrics={'x_velocity': 14.610406186068476, 'y_velocity': 0.0, 'planar_speed': 14.610406186068476, 'height': 0.6492529376792769, 'yaw_rate': 0.0, 'effort': 0.5775689912835756, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.263864790960572, 'saturation': 0.008518518518518517, 'length': 1000.0, 'failure': 0.0, 'distance': 657.4682783730814, 'return': 13619.225957600418, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:21,291Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': 0.05, 'effect': {'behavior': 'speed', 'effect': -3.628661190205105, 'ci95': [-5.674356072647067, -2.2026760545542996], 'relative_effect': -0.21604988906805825, 'baseline_mean': 16.795478145614943, 'treated_mean': 13.166816955409834, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 13.166816955409834, 'effort': 0.5407609909138539, 'height': 0.6225443122414014, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.05644444444444444, 'bad_contact': 0.06866666666666667, 'planar_speed': 13.17368214728678, 'saturation': 0.010666666666666666, 'reward': 12.842360360731655, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.05644444444444444, 'bad_contact': 0.06866666666666667, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:22,227Z INFO episode phase=validation condition=speed_shuffled__+0.1000 seed=110000 metrics={'x_velocity': 12.256909529894486, 'y_velocity': 0.0, 'planar_speed': 12.256909529894486, 'height': 0.6693697585587589, 'yaw_rate': 0.0, 'effort': 0.5504960369070371, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.926611907869473, 'saturation': 0.012962962962962964, 'length': 1000.0, 'failure': 0.0, 'distance': 551.5609288452519, 'return': 11468.56775942141, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:22,242Z INFO episode phase=validation condition=speed_shuffled__+0.1000 seed=110001 metrics={'x_velocity': 11.79444236851436, 'y_velocity': 0.0, 'planar_speed': 11.79444236851436, 'height': 0.6746986447576232, 'yaw_rate': 0.0, 'effort': 0.5488535345676873, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.465130247507181, 'saturation': 0.010185185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 530.7499065831462, 'return': 11001.479971887311, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:22,257Z INFO episode phase=validation condition=speed_shuffled__+0.1000 seed=110002 metrics={'x_velocity': 12.086120714436365, 'y_velocity': 0.0, 'planar_speed': 12.086120714436365, 'height': 0.6685990176935798, 'yaw_rate': 0.0, 'effort': 0.5459030154595772, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.758578905658982, 'saturation': 0.010555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 543.8754321496365, 'return': 11346.939266716883, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:22,273Z INFO episode phase=validation condition=speed_shuffled__+0.1000 seed=110003 metrics={'x_velocity': 11.836282968706408, 'y_velocity': 0.0, 'planar_speed': 11.836282968706408, 'height': 0.6716093931802847, 'yaw_rate': 0.0, 'effort': 0.5470169351084365, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.508072807576776, 'saturation': 0.008148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 532.6327335917885, 'return': 11192.037455894108, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:23,191Z INFO episode phase=validation condition=speed_shuffled__+0.1000 seed=110007 metrics={'x_velocity': 12.061896812224465, 'y_velocity': 0.0, 'planar_speed': 12.061896812224465, 'height': 0.6716391747553591, 'yaw_rate': 0.0, 'effort': 0.5491132571631008, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.732428857986209, 'saturation': 0.012037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 542.7853565501009, 'return': 11405.948965604184, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:23,206Z INFO episode phase=validation condition=speed_shuffled__+0.1000 seed=110005 metrics={'x_velocity': 12.187089246201555, 'y_velocity': 0.0, 'planar_speed': 12.187089246201555, 'height': 0.6662230743290578, 'yaw_rate': 0.0, 'effort': 0.5548027688016494, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.854207584720227, 'saturation': 0.012777777777777779, 'length': 1000.0, 'failure': 0.0, 'distance': 548.41901607907, 'return': 11410.604687549909, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:23,220Z INFO episode phase=validation condition=speed_shuffled__+0.1000 seed=110004 metrics={'x_velocity': 11.82985738173835, 'y_velocity': 0.0, 'planar_speed': 11.82985738173835, 'height': 0.6717755689657517, 'yaw_rate': 0.0, 'effort': 0.5614923488845428, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.492961972545046, 'saturation': 0.01537037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 532.3435821782258, 'return': 11128.833705726553, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:23,236Z INFO episode phase=validation condition=speed_shuffled__+0.1000 seed=110006 metrics={'x_velocity': 11.771069460719682, 'y_velocity': 0.0, 'planar_speed': 11.771069460719682, 'height': 0.671484704163008, 'yaw_rate': 0.0, 'effort': 0.5546361914111508, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.438287745551788, 'saturation': 0.014444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 529.6981257323857, 'return': 11053.397793228782, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:24,246Z INFO episode phase=validation condition=speed_shuffled__+0.1000 seed=110009 metrics={'x_velocity': 12.11400852029049, 'y_velocity': 0.0, 'planar_speed': 12.11400852029049, 'height': 0.6718433558996435, 'yaw_rate': 0.0, 'effort': 0.5576428474817011, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.779422811857762, 'saturation': 0.012962962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 545.1303834130721, 'return': 11383.228176407889, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:24,261Z INFO episode phase=validation condition=speed_shuffled__+0.1000 seed=110008 metrics={'x_velocity': 12.094446357363106, 'y_velocity': 0.0, 'planar_speed': 12.094446357363106, 'height': 0.6713477990262355, 'yaw_rate': 0.0, 'effort': 0.5447471454491218, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.767598070118467, 'saturation': 0.010925925925925924, 'length': 1000.0, 'failure': 0.0, 'distance': 544.2500860813398, 'return': 11381.79609067486, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:24,275Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': 0.1, 'effect': {'behavior': 'speed', 'effect': -4.792265809606013, 'ci95': [-4.902083291500529, -4.692045758863626], 'relative_effect': -0.28533071628313267, 'baseline_mean': 16.795478145614943, 'treated_mean': 12.003212336008925, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.003212336008925, 'effort': 0.5514704081234005, 'height': 0.6708590491329302, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 12.003212336008925, 'saturation': 0.012037037037037037, 'reward': 11.672330091139191, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:25,257Z INFO episode phase=validation condition=speed_shuffled__+0.2000 seed=110001 metrics={'x_velocity': 6.91664965966537, 'y_velocity': 0.0, 'planar_speed': 6.9248042753380465, 'height': 0.6545040930309194, 'yaw_rate': 0.0, 'effort': 0.4121682665228016, 'inversion': 0.01, 'bad_contact': 0.19111111111111112, 'reward': 6.669348699625444, 'saturation': 0.02407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 311.2492346849417, 'return': 6685.276578793746, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:25,276Z INFO episode phase=validation condition=speed_shuffled__+0.2000 seed=110000 metrics={'x_velocity': 8.803924172526834, 'y_velocity': 0.0, 'planar_speed': 8.803924172526834, 'height': 0.6861202571587226, 'yaw_rate': 0.0, 'effort': 0.521288782209158, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.491150902777486, 'saturation': 0.028888888888888884, 'length': 1000.0, 'failure': 0.0, 'distance': 396.1765877637076, 'return': 8376.65285483862, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:25,305Z INFO episode phase=validation condition=speed_shuffled__+0.2000 seed=110002 metrics={'x_velocity': 2.5841336526717216, 'y_velocity': 0.0, 'planar_speed': 2.68262042804196, 'height': 0.28521118438502857, 'yaw_rate': 0.0, 'effort': 0.2876496518123895, 'inversion': 0.7866666666666666, 'bad_contact': 0.5, 'reward': 2.41154386139616, 'saturation': 0.01148148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 116.28601437022746, 'return': 2934.6077268803438, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:25,324Z INFO episode phase=validation condition=speed_shuffled__+0.2000 seed=110003 metrics={'x_velocity': 9.050182426893198, 'y_velocity': 0.0, 'planar_speed': 9.050182426893198, 'height': 0.6928220941516429, 'yaw_rate': 0.0, 'effort': 0.5150745823896593, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.74113767732529, 'saturation': 0.02259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 407.25820921019385, 'return': 8701.795838667771, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:26,292Z INFO episode phase=validation condition=speed_shuffled__+0.2000 seed=110004 metrics={'x_velocity': 2.930344388747809, 'y_velocity': 0.0, 'planar_speed': 3.025750239710449, 'height': 0.31638092644291466, 'yaw_rate': 0.0, 'effort': 0.32657111063082184, 'inversion': 0.7155555555555555, 'bad_contact': 0.43777777777777777, 'reward': 2.734401722660095, 'saturation': 0.025185185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 131.86549749365142, 'return': 3246.129480830098, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:26,310Z INFO episode phase=validation condition=speed_shuffled__+0.2000 seed=110005 metrics={'x_velocity': 4.9208523450015, 'y_velocity': 0.0, 'planar_speed': 4.991248921684033, 'height': 0.43019092981753904, 'yaw_rate': 0.0, 'effort': 0.377465136345062, 'inversion': 0.5133333333333333, 'bad_contact': 0.3277777777777778, 'reward': 4.694373263211021, 'saturation': 0.023148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 221.43835552506755, 'return': 4966.753798191623, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:26,332Z INFO episode phase=validation condition=speed_shuffled__+0.2000 seed=110006 metrics={'x_velocity': 9.144841890606848, 'y_velocity': 0.0, 'planar_speed': 9.144841890606848, 'height': 0.6787127862358309, 'yaw_rate': 0.0, 'effort': 0.5105668836252557, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.838501760297586, 'saturation': 0.014259259259259258, 'length': 1000.0, 'failure': 0.0, 'distance': 411.51788507730816, 'return': 8713.5904065, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:26,348Z INFO episode phase=validation condition=speed_shuffled__+0.2000 seed=110007 metrics={'x_velocity': 8.804188391859055, 'y_velocity': 0.0, 'planar_speed': 8.804188391859055, 'height': 0.6845407474913976, 'yaw_rate': 0.0, 'effort': 0.5257770091543595, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.488722186189282, 'saturation': 0.029629629629629627, 'length': 1000.0, 'failure': 0.0, 'distance': 396.18847763365756, 'return': 8486.61296098695, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:27,305Z INFO episode phase=validation condition=speed_shuffled__+0.2000 seed=110009 metrics={'x_velocity': 8.577820995042819, 'y_velocity': 0.0, 'planar_speed': 8.577820995042819, 'height': 0.6833379599459454, 'yaw_rate': 0.0, 'effort': 0.523619105513725, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 8.263649531448978, 'saturation': 0.03037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 386.00194477692685, 'return': 8219.032224039984, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:27,328Z INFO episode phase=validation condition=speed_shuffled__+0.2000 seed=110008 metrics={'x_velocity': 6.819657785335513, 'y_velocity': 0.0, 'planar_speed': 6.8548634772161465, 'height': 0.554146638430006, 'yaw_rate': 0.0, 'effort': 0.4378531765792933, 'inversion': 0.27666666666666667, 'bad_contact': 0.15777777777777777, 'reward': 6.556945879581238, 'saturation': 0.024629629629629626, 'length': 1000.0, 'failure': 0.0, 'distance': 306.8846003400981, 'return': 6692.209119191353, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:27,340Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': 0.2, 'effect': {'behavior': 'speed', 'effect': -9.940218574779873, 'ci95': [-11.526213123792477, -8.534735593523946], 'relative_effect': -0.5918389752646084, 'baseline_mean': 16.795478145614943, 'treated_mean': 6.8552595708350665, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 6.8552595708350665, 'effort': 0.44380337047825263, 'height': 0.5665967617089948, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.2302222222222222, 'bad_contact': 0.16155555555555554, 'planar_speed': 6.8860245218919385, 'saturation': 0.023425925925925923, 'reward': 6.588977548451257, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.2302222222222222, 'bad_contact': 0.16155555555555554, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:28,378Z INFO episode phase=validation condition=speed_shuffled__+0.5000 seed=110003 metrics={'x_velocity': 0.6678892553208939, 'y_velocity': 0.0, 'planar_speed': 0.6728405291647538, 'height': 0.4943301754057404, 'yaw_rate': 0.0, 'effort': 0.0670858151693311, 'inversion': 0.014444444444444444, 'bad_contact': 0.91, 'reward': 0.6276377662445446, 'saturation': 0.01074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 30.055016489440227, 'return': 1399.6459186951001, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:28,397Z INFO episode phase=validation condition=speed_shuffled__+0.5000 seed=110002 metrics={'x_velocity': 0.557573657627403, 'y_velocity': 0.0, 'planar_speed': 0.5648940576140449, 'height': 0.4967180212422986, 'yaw_rate': 0.0, 'effort': 0.06338487097993493, 'inversion': 0.013333333333333334, 'bad_contact': 0.9222222222222223, 'reward': 0.5195427350953213, 'saturation': 0.01185185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 25.090814593233134, 'return': 1231.8067132095885, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:28,414Z INFO episode phase=validation condition=speed_shuffled__+0.5000 seed=110001 metrics={'x_velocity': 0.9709780325542228, 'y_velocity': 0.0, 'planar_speed': 1.15351002658733, 'height': 0.19159391778774598, 'yaw_rate': 0.0, 'effort': 0.23629266718816427, 'inversion': 0.9322222222222222, 'bad_contact': 0.8255555555555556, 'reward': 0.8292024322715406, 'saturation': 0.021111111111111112, 'length': 1000.0, 'failure': 0.0, 'distance': 43.694011464940026, 'return': 1429.1449381752327, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:28,430Z INFO episode phase=validation condition=speed_shuffled__+0.5000 seed=110000 metrics={'x_velocity': 0.9945032024083145, 'y_velocity': 0.0, 'planar_speed': 1.1790914448480063, 'height': 0.188858533305596, 'yaw_rate': 0.0, 'effort': 0.231037808402131, 'inversion': 0.9577777777777777, 'bad_contact': 0.8155555555555556, 'reward': 0.8558805172888049, 'saturation': 0.014074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 44.752644108374156, 'return': 1504.9095078988075, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:29,491Z INFO episode phase=validation condition=speed_shuffled__+0.5000 seed=110004 metrics={'x_velocity': 0.9661625469619025, 'y_velocity': 0.0, 'planar_speed': 1.1509466821359406, 'height': 0.17412512445012754, 'yaw_rate': 0.0, 'effort': 0.22611756174307732, 'inversion': 0.9633333333333334, 'bad_contact': 0.8277777777777777, 'reward': 0.830492009927232, 'saturation': 0.013703703703703702, 'length': 1000.0, 'failure': 0.0, 'distance': 43.477314613285614, 'return': 1532.6107393705208, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:29,518Z INFO episode phase=validation condition=speed_shuffled__+0.5000 seed=110005 metrics={'x_velocity': 1.0150550248637453, 'y_velocity': 0.0, 'planar_speed': 1.2005680118670334, 'height': 0.18696407954388997, 'yaw_rate': 0.0, 'effort': 0.22411635787536702, 'inversion': 0.9766666666666667, 'bad_contact': 0.8211111111111111, 'reward': 0.8805852101261072, 'saturation': 0.008888888888888887, 'length': 1000.0, 'failure': 0.0, 'distance': 45.67747611886854, 'return': 1534.3445504152012, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:29,542Z INFO episode phase=validation condition=speed_shuffled__+0.5000 seed=110007 metrics={'x_velocity': 1.188899728033234, 'y_velocity': 0.0, 'planar_speed': 1.3702884488958056, 'height': 0.2129253935718328, 'yaw_rate': 0.0, 'effort': 0.2499673257416321, 'inversion': 0.9066666666666666, 'bad_contact': 0.8066666666666666, 'reward': 1.038919332512507, 'saturation': 0.025185185185185182, 'length': 1000.0, 'failure': 0.0, 'distance': 53.50048776149554, 'return': 1781.7903926778524, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:29,559Z INFO episode phase=validation condition=speed_shuffled__+0.5000 seed=110006 metrics={'x_velocity': 1.202944025878662, 'y_velocity': 0.0, 'planar_speed': 1.382766853287827, 'height': 0.30976421072724886, 'yaw_rate': 0.0, 'effort': 0.31666864794161587, 'inversion': 0.7222222222222222, 'bad_contact': 0.6522222222222223, 'reward': 1.0129428370507763, 'saturation': 0.05888888888888888, 'length': 1000.0, 'failure': 0.0, 'distance': 54.13248116453979, 'return': 1670.5873755778714, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:30,609Z INFO episode phase=validation condition=speed_shuffled__+0.5000 seed=110008 metrics={'x_velocity': 1.0363057400759397, 'y_velocity': 0.0, 'planar_speed': 1.223788196415968, 'height': 0.18111217407009828, 'yaw_rate': 0.0, 'effort': 0.2296608516263465, 'inversion': 0.9477777777777778, 'bad_contact': 0.8244444444444444, 'reward': 0.8985092289920984, 'saturation': 0.01537037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 46.633758303417295, 'return': 1599.6161336611278, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:30,633Z INFO episode phase=validation condition=speed_shuffled__+0.5000 seed=110009 metrics={'x_velocity': 1.025325285244911, 'y_velocity': 0.0, 'planar_speed': 1.2067267079214024, 'height': 0.19624128148528983, 'yaw_rate': 0.0, 'effort': 0.2397504106991821, 'inversion': 0.9322222222222222, 'bad_contact': 0.8277777777777777, 'reward': 0.8814750387641415, 'saturation': 0.018703703703703705, 'length': 1000.0, 'failure': 0.0, 'distance': 46.139637836020995, 'return': 1575.0751806236315, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:30,645Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': 0.5, 'effect': {'behavior': 'speed', 'effect': -15.832914495718015, 'ci95': [-15.959909373930401, -15.727426429601167], 'relative_effect': -0.9426891189669262, 'baseline_mean': 16.795478145614943, 'treated_mean': 0.9625636498969229, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 0.9625636498969229, 'effort': 0.20840823173667822, 'height': 0.26326329115898683, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.7366666666666666, 'bad_contact': 0.8233333333333335, 'planar_speed': 1.1105420958738113, 'saturation': 0.01985185185185185, 'reward': 0.8375187108273074, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.7366666666666666, 'bad_contact': 0.8233333333333335, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:31,865Z INFO episode phase=validation condition=effort__-0.5000 seed=110001 metrics={'x_velocity': 1.157664608402703, 'y_velocity': 0.0, 'planar_speed': 1.4026820992294557, 'height': 0.24655910522378974, 'yaw_rate': 0.0, 'effort': 0.4555065568619304, 'inversion': 0.9333333333333333, 'bad_contact': 0.3377777777777778, 'reward': 0.8843606742126944, 'saturation': 0.05981481481481481, 'length': 1000.0, 'failure': 0.0, 'distance': 52.09490737812163, 'return': 1478.7873559222712, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:31,886Z INFO episode phase=validation condition=effort__-0.5000 seed=110000 metrics={'x_velocity': 1.074397295971596, 'y_velocity': 0.0, 'planar_speed': 1.342435183537349, 'height': 0.22141956845608526, 'yaw_rate': 0.0, 'effort': 0.4446320209569401, 'inversion': 0.9688888888888889, 'bad_contact': 0.34555555555555556, 'reward': 0.807618083642473, 'saturation': 0.035, 'length': 1000.0, 'failure': 0.0, 'distance': 48.34787831872182, 'return': 1461.473317617109, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:31,926Z INFO episode phase=validation condition=effort__-0.5000 seed=110002 metrics={'x_velocity': 0.5019522788112829, 'y_velocity': 0.0, 'planar_speed': 0.5021259606939016, 'height': 0.4270145165368529, 'yaw_rate': 0.0, 'effort': 0.9543515512678358, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': -0.07065865163152715, 'saturation': 0.8401851851851853, 'length': 1000.0, 'failure': 0.0, 'distance': 22.587852546507733, 'return': 700.6254651554248, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:31,944Z INFO episode phase=validation condition=effort__-0.5000 seed=110003 metrics={'x_velocity': 0.6484769213495191, 'y_velocity': 0.0, 'planar_speed': 0.6486196662974726, 'height': 0.4324365218982025, 'yaw_rate': 0.0, 'effort': 0.9501046299603251, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 0.07841414417467509, 'saturation': 0.8324074074074075, 'length': 1000.0, 'failure': 0.0, 'distance': 29.18146146072836, 'return': 905.3446588322181, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:32,915Z INFO episode phase=validation condition=effort__-0.5000 seed=110004 metrics={'x_velocity': 1.1589903730632745, 'y_velocity': 0.0, 'planar_speed': 1.417856916532173, 'height': 0.22962155067450654, 'yaw_rate': 0.0, 'effort': 0.44228928223252295, 'inversion': 0.9611111111111111, 'bad_contact': 0.3244444444444444, 'reward': 0.8936168034687851, 'saturation': 0.048518518518518516, 'length': 1000.0, 'failure': 0.0, 'distance': 52.15456678784736, 'return': 1589.4230535579186, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:32,933Z INFO episode phase=validation condition=effort__-0.5000 seed=110005 metrics={'x_velocity': 0.6142537746237715, 'y_velocity': 0.0, 'planar_speed': 0.6147345630923562, 'height': 0.43818367203646885, 'yaw_rate': 0.0, 'effort': 0.94381642639637, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 0.04796391874621305, 'saturation': 0.8194444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 27.64141985806972, 'return': 784.9853881732965, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:32,971Z INFO episode phase=validation condition=effort__-0.5000 seed=110007 metrics={'x_velocity': 0.7140852568012996, 'y_velocity': 0.0, 'planar_speed': 0.7142243845911169, 'height': 0.44079736772236555, 'yaw_rate': 0.0, 'effort': 0.9404613621367348, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 0.14980844015504152, 'saturation': 0.8133333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 32.13383655605849, 'return': 981.5905895561336, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:32,987Z INFO episode phase=validation condition=effort__-0.5000 seed=110006 metrics={'x_velocity': 0.6641809050975214, 'y_velocity': 0.0, 'planar_speed': 0.6643437390380138, 'height': 0.4431460391797671, 'yaw_rate': 0.0, 'effort': 0.9449059655268987, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 0.09723732587410028, 'saturation': 0.820925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 29.88814072938846, 'return': 846.4524155188627, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:33,837Z INFO episode phase=validation condition=effort__-0.5000 seed=110008 metrics={'x_velocity': 0.5918762334505534, 'y_velocity': 0.0, 'planar_speed': 0.59204788483304, 'height': 0.4356498169321572, 'yaw_rate': 0.0, 'effort': 0.9464495352572865, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 0.024006512514731765, 'saturation': 0.8201851851851852, 'length': 1000.0, 'failure': 0.0, 'distance': 26.634430505274903, 'return': 812.5636888314976, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:33,858Z INFO episode phase=validation condition=effort__-0.5000 seed=110009 metrics={'x_velocity': 0.6502060172161741, 'y_velocity': 0.0, 'planar_speed': 0.6503803142564352, 'height': 0.43043410004606625, 'yaw_rate': 0.0, 'effort': 0.9497112492389149, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 0.08037926791786623, 'saturation': 0.8311111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 29.259270774727835, 'return': 854.0889868619836, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:33,868Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': -0.5, 'effect': {'behavior': 'effort', 'effect': 0.10611917088594698, 'ci95': [-0.04424262677186897, 0.25396081513522395], 'relative_effect': 0.15355028900454418, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.797222857983576, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 0.7776083664787696, 'effort': 0.797222857983576, 'height': 0.3745262258706262, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.28633333333333333, 'bad_contact': 0.10088888888888889, 'planar_speed': 0.8549450712101313, 'saturation': 0.5920925925925926, 'reward': 0.29927465190750535, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.28633333333333333, 'bad_contact': 0.10088888888888889, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:34,983Z INFO episode phase=validation condition=effort__-0.2000 seed=110003 metrics={'x_velocity': 0.6900843622593607, 'y_velocity': 0.0, 'planar_speed': 0.6943557601182531, 'height': 0.5818509569880221, 'yaw_rate': 0.0, 'effort': 0.047487651483259265, 'inversion': 0.025555555555555557, 'bad_contact': 0.9011111111111111, 'reward': 0.6615917714391508, 'saturation': 0.012962962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 31.05379630167123, 'return': 1430.2045233702459, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:35,018Z INFO episode phase=validation condition=effort__-0.2000 seed=110002 metrics={'x_velocity': 2.7216131591844306, 'y_velocity': 0.0, 'planar_speed': 2.8171441637794614, 'height': 0.6327113425113291, 'yaw_rate': 0.0, 'effort': 0.7079031517770555, 'inversion': 0.0, 'bad_contact': 0.006666666666666667, 'reward': 2.2968712685023163, 'saturation': 0.3022222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 122.47259216329938, 'return': 2831.4023932758837, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:35,035Z INFO episode phase=validation condition=effort__-0.2000 seed=110000 metrics={'x_velocity': 2.342164823329556, 'y_velocity': 0.0, 'planar_speed': 2.4741948903802347, 'height': 0.641167356005449, 'yaw_rate': 0.0, 'effort': 0.6982645566761494, 'inversion': 0.0033333333333333335, 'bad_contact': 0.024444444444444446, 'reward': 1.9232060888702094, 'saturation': 0.27685185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 105.39741704983004, 'return': 2465.502522322072, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:35,050Z INFO episode phase=validation condition=effort__-0.2000 seed=110001 metrics={'x_velocity': 1.68136036556903, 'y_velocity': 0.0, 'planar_speed': 1.7481707058903506, 'height': 0.4829421645670609, 'yaw_rate': 0.0, 'effort': 0.79501392338011, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 1.2043520114614914, 'saturation': 0.4716666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 75.66121645060635, 'return': 1766.7795594461882, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:35,976Z INFO episode phase=validation condition=effort__-0.2000 seed=110004 metrics={'x_velocity': 1.3651374654993775, 'y_velocity': 0.0, 'planar_speed': 1.538656001163651, 'height': 0.2328658032169904, 'yaw_rate': 0.0, 'effort': 0.3468485388242536, 'inversion': 0.9511111111111111, 'bad_contact': 0.4777777777777778, 'reward': 1.157028342269397, 'saturation': 0.02314814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 61.43118594747199, 'return': 1826.4934384784694, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:35,993Z INFO episode phase=validation condition=effort__-0.2000 seed=110006 metrics={'x_velocity': 2.58119797283461, 'y_velocity': 0.0, 'planar_speed': 2.641221496071262, 'height': 0.6245397320014731, 'yaw_rate': 0.0, 'effort': 0.7075788257188267, 'inversion': 0.0011111111111111111, 'bad_contact': 0.0, 'reward': 2.156650677277482, 'saturation': 0.30444444444444446, 'length': 1000.0, 'failure': 0.0, 'distance': 116.15390877755748, 'return': 2699.9244317819066, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:36,010Z INFO episode phase=validation condition=effort__-0.2000 seed=110005 metrics={'x_velocity': 0.6809911811492129, 'y_velocity': 0.0, 'planar_speed': 0.6810346949547685, 'height': 0.16502316925665472, 'yaw_rate': 0.0, 'effort': 0.05432414716937476, 'inversion': 0.9655555555555555, 'bad_contact': 0.9233333333333333, 'reward': 0.648396692932442, 'saturation': 0.006666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 30.64460315171458, 'return': 1325.3748849409026, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:36,025Z INFO episode phase=validation condition=effort__-0.2000 seed=110007 metrics={'x_velocity': 1.8084302121067637, 'y_velocity': 0.0, 'planar_speed': 2.052963566913254, 'height': 0.6242446249487125, 'yaw_rate': 0.0, 'effort': 0.692439861405227, 'inversion': 0.0, 'bad_contact': 0.034444444444444444, 'reward': 1.3929662953281992, 'saturation': 0.2685185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 81.37935954480437, 'return': 2100.432659211975, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:36,915Z INFO episode phase=validation condition=effort__-0.2000 seed=110008 metrics={'x_velocity': 0.6209362461640445, 'y_velocity': 0.0, 'planar_speed': 0.6415501661061825, 'height': 0.5741046173489371, 'yaw_rate': 0.0, 'effort': 0.04542003897432652, 'inversion': 0.03111111111111111, 'bad_contact': 0.9222222222222223, 'reward': 0.5936842227564761, 'saturation': 0.005925925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 27.942131077382005, 'return': 1325.2736280490676, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:36,940Z INFO episode phase=validation condition=effort__-0.2000 seed=110009 metrics={'x_velocity': 2.9042045147805386, 'y_velocity': 0.0, 'planar_speed': 2.9246970454933683, 'height': 0.6374038132017255, 'yaw_rate': 0.0, 'effort': 0.7021087595158153, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 2.4829392586538166, 'saturation': 0.29944444444444446, 'length': 1000.0, 'failure': 0.0, 'distance': 130.68920316512424, 'return': 3016.392978524339, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:36,952Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': -0.2, 'effect': {'behavior': 'effort', 'effect': -0.2113647416051891, 'ci95': [-0.41411316527136494, -0.03596110349648583], 'relative_effect': -0.30583651274216195, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.47973894549243984, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 1.7396120302876927, 'effort': 0.47973894549243984, 'height': 0.5196853580046354, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.19777777777777777, 'bad_contact': 0.3292222222222222, 'planar_speed': 1.8213988490870787, 'saturation': 0.19718518518518519, 'reward': 1.451768662949098, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.19777777777777777, 'bad_contact': 0.3292222222222222, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:37,948Z INFO episode phase=validation condition=effort__-0.1000 seed=110001 metrics={'x_velocity': 7.947615747827525, 'y_velocity': 0.0, 'planar_speed': 7.953136712755609, 'height': 0.6586580194127801, 'yaw_rate': 0.0, 'effort': 0.7095586364633507, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 7.521880566350189, 'saturation': 0.21333333333333335, 'length': 1000.0, 'failure': 0.0, 'distance': 357.64270865223864, 'return': 7452.555258846018, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:37,964Z INFO episode phase=validation condition=effort__-0.1000 seed=110002 metrics={'x_velocity': 7.194800529795541, 'y_velocity': 0.0, 'planar_speed': 7.2080628918042144, 'height': 0.6460230607880367, 'yaw_rate': 0.0, 'effort': 0.7012693871557713, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 6.774038897737185, 'saturation': 0.20851851851851855, 'length': 1000.0, 'failure': 0.0, 'distance': 323.76602384079933, 'return': 6860.853259587266, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:37,980Z INFO episode phase=validation condition=effort__-0.1000 seed=110003 metrics={'x_velocity': 7.912487855604617, 'y_velocity': 0.0, 'planar_speed': 7.912487855604617, 'height': 0.6516306793889066, 'yaw_rate': 0.0, 'effort': 0.7047962880300152, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 7.489610082942241, 'saturation': 0.20574074074074075, 'length': 1000.0, 'failure': 0.0, 'distance': 356.0619535022078, 'return': 7575.421003723028, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:37,996Z INFO episode phase=validation condition=effort__-0.1000 seed=110000 metrics={'x_velocity': 6.010533724190264, 'y_velocity': 0.0, 'planar_speed': 6.028420625253641, 'height': 0.5786245762335548, 'yaw_rate': 0.0, 'effort': 0.6255339527461263, 'inversion': 0.17555555555555555, 'bad_contact': 0.09111111111111111, 'reward': 5.635213353314136, 'saturation': 0.18370370370370367, 'length': 1000.0, 'failure': 0.0, 'distance': 270.4740175885619, 'return': 5806.309060321606, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:38,965Z INFO episode phase=validation condition=effort__-0.1000 seed=110004 metrics={'x_velocity': 8.02739083374902, 'y_velocity': 0.0, 'planar_speed': 8.02739083374902, 'height': 0.6459472361586809, 'yaw_rate': 0.0, 'effort': 0.7037871205310027, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.605118561692016, 'saturation': 0.21574074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 361.23258751870594, 'return': 7629.774635958826, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:38,984Z INFO episode phase=validation condition=effort__-0.1000 seed=110005 metrics={'x_velocity': 7.747998103596152, 'y_velocity': 0.0, 'planar_speed': 7.747998103596152, 'height': 0.6561498197075594, 'yaw_rate': 0.0, 'effort': 0.7015908740874793, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.327043579059223, 'saturation': 0.20814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 348.65991466182686, 'return': 7336.157082455005, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:38,998Z INFO episode phase=validation condition=effort__-0.1000 seed=110006 metrics={'x_velocity': 7.646424219849389, 'y_velocity': 0.0, 'planar_speed': 7.646424219849389, 'height': 0.6550971785349301, 'yaw_rate': 0.0, 'effort': 0.6955214691493247, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 7.229111338286944, 'saturation': 0.20777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 344.08908989322254, 'return': 7265.139026690422, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:39,016Z INFO episode phase=validation condition=effort__-0.1000 seed=110007 metrics={'x_velocity': 7.625909099681059, 'y_velocity': 0.0, 'planar_speed': 7.625909099681059, 'height': 0.6462112127952633, 'yaw_rate': 0.0, 'effort': 0.7170179320209557, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 7.195698340955257, 'saturation': 0.22833333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 343.1659094856477, 'return': 7322.891500276328, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:39,952Z INFO episode phase=validation condition=effort__-0.1000 seed=110008 metrics={'x_velocity': 8.201812355969459, 'y_velocity': 0.0, 'planar_speed': 8.201812355969459, 'height': 0.6650074861269687, 'yaw_rate': 0.0, 'effort': 0.7013324789123403, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.781012868607152, 'saturation': 0.2112962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 369.08155601862563, 'return': 7793.869409314677, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:39,967Z INFO episode phase=validation condition=effort__-0.1000 seed=110009 metrics={'x_velocity': 7.139735594344927, 'y_velocity': 0.0, 'planar_speed': 7.139735594344927, 'height': 0.6479889742683081, 'yaw_rate': 0.0, 'effort': 0.6983913431151045, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 6.720700788855017, 'saturation': 0.20777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 321.2881017455218, 'return': 6830.3783557054185, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:39,977Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': -0.1, 'effect': {'behavior': 'effort', 'effect': 0.004776261123518133, 'ci95': [-0.011708264831846829, 0.01516841998036121], 'relative_effect': 0.006911063003551033, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6958799482211471, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 7.545470806460796, 'effort': 0.6958799482211471, 'height': 0.6451338243414989, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.017555555555555553, 'bad_contact': 0.009999999999999998, 'planar_speed': 7.549137829260809, 'saturation': 0.20903703703703705, 'reward': 7.127942837779936, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.017555555555555553, 'bad_contact': 0.009999999999999998, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:40,983Z INFO episode phase=validation condition=effort__-0.0500 seed=110000 metrics={'x_velocity': 2.9054339417466437, 'y_velocity': 0.0, 'planar_speed': 2.919131423313283, 'height': 0.5887594273794902, 'yaw_rate': 0.0, 'effort': 0.16129582062260145, 'inversion': 0.027777777777777776, 'bad_contact': 0.7533333333333333, 'reward': 2.8086564493476276, 'saturation': 0.020740740740740737, 'length': 1000.0, 'failure': 0.0, 'distance': 130.74452737859897, 'return': 3262.4078467517484, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:41,000Z INFO episode phase=validation condition=effort__-0.0500 seed=110001 metrics={'x_velocity': 13.218307542320726, 'y_velocity': 0.0, 'planar_speed': 13.218307542320726, 'height': 0.6180963335872289, 'yaw_rate': 0.0, 'effort': 0.7001487619347042, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.798218285769197, 'saturation': 0.10111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 594.8238394044328, 'return': 12201.259206323122, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:41,015Z INFO episode phase=validation condition=effort__-0.0500 seed=110002 metrics={'x_velocity': 13.183509211246585, 'y_velocity': 0.0, 'planar_speed': 13.183509211246585, 'height': 0.6245759483036243, 'yaw_rate': 0.0, 'effort': 0.6990317438542842, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.764090164698908, 'saturation': 0.09092592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 593.2579145060963, 'return': 12251.899399852817, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:41,030Z INFO episode phase=validation condition=effort__-0.0500 seed=110003 metrics={'x_velocity': 12.264385372850848, 'y_velocity': 0.0, 'planar_speed': 12.264385372850848, 'height': 0.6280702836570893, 'yaw_rate': 0.0, 'effort': 0.7043097684946326, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 11.841799511803737, 'saturation': 0.11592592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 551.8973417782881, 'return': 11492.391489698373, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:42,051Z INFO episode phase=validation condition=effort__-0.0500 seed=110004 metrics={'x_velocity': 12.780827867384785, 'y_velocity': 0.0, 'planar_speed': 12.780827867384785, 'height': 0.6459690618291539, 'yaw_rate': 0.0, 'effort': 0.7028107143110699, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.359141438824631, 'saturation': 0.10925925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 575.1372540323154, 'return': 11908.395225378183, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:42,067Z INFO episode phase=validation condition=effort__-0.0500 seed=110006 metrics={'x_velocity': 12.94501982747127, 'y_velocity': 0.0, 'planar_speed': 12.94501982747127, 'height': 0.6250527403965268, 'yaw_rate': 0.0, 'effort': 0.700667932546801, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.52461906797299, 'saturation': 0.09444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 582.5258922362071, 'return': 12031.095983407866, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:42,081Z INFO episode phase=validation condition=effort__-0.0500 seed=110007 metrics={'x_velocity': 13.25297522983957, 'y_velocity': 0.0, 'planar_speed': 13.25297522983957, 'height': 0.6419008338392226, 'yaw_rate': 0.0, 'effort': 0.6992990083495776, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.833395825419247, 'saturation': 0.10611111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 596.3838853427807, 'return': 12396.819236293919, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:42,097Z INFO episode phase=validation condition=effort__-0.0500 seed=110005 metrics={'x_velocity': 12.695712447048027, 'y_velocity': 0.0, 'planar_speed': 12.695712447048027, 'height': 0.6239751608945322, 'yaw_rate': 0.0, 'effort': 0.6959779052933057, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.278125704315766, 'saturation': 0.10574074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 571.3070601171612, 'return': 11792.130995185893, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:42,980Z INFO episode phase=validation condition=effort__-0.0500 seed=110008 metrics={'x_velocity': 12.648634770013302, 'y_velocity': 0.0, 'planar_speed': 12.648634770013302, 'height': 0.63823085843486, 'yaw_rate': 0.0, 'effort': 0.6970310084687339, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.230416165342673, 'saturation': 0.10129629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 569.1885646505987, 'return': 11798.332376376646, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:42,993Z INFO episode phase=validation condition=effort__-0.0500 seed=110009 metrics={'x_velocity': 6.933803526455297, 'y_velocity': 0.0, 'planar_speed': 6.992381911294518, 'height': 0.4203367590806128, 'yaw_rate': 0.0, 'effort': 0.473005445541607, 'inversion': 0.5233333333333333, 'bad_contact': 0.24444444444444444, 'reward': 6.650000259043409, 'saturation': 0.047407407407407405, 'length': 1000.0, 'failure': 0.0, 'distance': 312.0211586904884, 'return': 6766.747878874972, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:43,007Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': -0.05, 'effect': {'behavior': 'effort', 'effect': -0.06774587615589715, 'ci95': [-0.19744999876500416, 0.009341358514502612], 'relative_effect': -0.09802563265203217, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6233578109417317, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 11.282860973637707, 'effort': 0.6233578109417317, 'height': 0.6054967407402341, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.05511111111111111, 'bad_contact': 0.09988888888888889, 'planar_speed': 11.29008856027829, 'saturation': 0.08929629629629629, 'reward': 10.90884628725382, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.05511111111111111, 'bad_contact': 0.09988888888888889, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:44,035Z INFO episode phase=validation condition=effort__+0.0500 seed=110000 metrics={'x_velocity': 13.956468568405723, 'y_velocity': 0.0, 'planar_speed': 13.956468568405723, 'height': 0.653171885468628, 'yaw_rate': 0.0, 'effort': 0.5873645146356689, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.604049859948836, 'saturation': 0.022037037037037036, 'length': 1000.0, 'failure': 0.0, 'distance': 628.0410855782576, 'return': 12978.261916292835, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:44,051Z INFO episode phase=validation condition=effort__+0.0500 seed=110002 metrics={'x_velocity': 13.360990547889543, 'y_velocity': 0.0, 'planar_speed': 13.360990547889543, 'height': 0.6657870872723034, 'yaw_rate': 0.0, 'effort': 0.5937046311133438, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.004767768880464, 'saturation': 0.021851851851851848, 'length': 1000.0, 'failure': 0.0, 'distance': 601.2445746550295, 'return': 12468.509243616218, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:44,067Z INFO episode phase=validation condition=effort__+0.0500 seed=110001 metrics={'x_velocity': 12.852393927742705, 'y_velocity': 0.0, 'planar_speed': 12.856106882734288, 'height': 0.6593814126243427, 'yaw_rate': 0.0, 'effort': 0.5564024226926267, 'inversion': 0.021111111111111112, 'bad_contact': 0.024444444444444446, 'reward': 12.518552473976047, 'saturation': 0.0187037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 578.3577267484218, 'return': 11949.55997570929, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:44,084Z INFO episode phase=validation condition=effort__+0.0500 seed=110003 metrics={'x_velocity': 13.642029434288636, 'y_velocity': 0.0, 'planar_speed': 13.642029434288636, 'height': 0.6556761142804433, 'yaw_rate': 0.0, 'effort': 0.5891912344677581, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.288514693748713, 'saturation': 0.021666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 613.8913245429886, 'return': 12794.435153448852, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:45,048Z INFO episode phase=validation condition=effort__+0.0500 seed=110004 metrics={'x_velocity': 13.5318529792728, 'y_velocity': 0.0, 'planar_speed': 13.5318529792728, 'height': 0.6698083986509556, 'yaw_rate': 0.0, 'effort': 0.592399066487948, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.176413540168138, 'saturation': 0.03296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 608.933384067276, 'return': 12643.940116587335, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:45,071Z INFO episode phase=validation condition=effort__+0.0500 seed=110007 metrics={'x_velocity': 13.824401377836491, 'y_velocity': 0.0, 'planar_speed': 13.824401377836491, 'height': 0.6533072209882265, 'yaw_rate': 0.0, 'effort': 0.5840744603425264, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.473956701066385, 'saturation': 0.01685185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 622.0980620026421, 'return': 12973.324024376345, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:45,087Z INFO episode phase=validation condition=effort__+0.0500 seed=110005 metrics={'x_velocity': 13.596438706469485, 'y_velocity': 0.0, 'planar_speed': 13.596438706469485, 'height': 0.6561156376201948, 'yaw_rate': 0.0, 'effort': 0.587227777408229, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.244102039958321, 'saturation': 0.020740740740740737, 'length': 1000.0, 'failure': 0.0, 'distance': 611.8397417911268, 'return': 12661.509697264193, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:45,103Z INFO episode phase=validation condition=effort__+0.0500 seed=110006 metrics={'x_velocity': 13.411534577347352, 'y_velocity': 0.0, 'planar_speed': 13.411534577347352, 'height': 0.6671192448805295, 'yaw_rate': 0.0, 'effort': 0.5950934675998157, 'inversion': 0.0022222222222222222, 'bad_contact': 0.0, 'reward': 13.054478496608649, 'saturation': 0.035, 'length': 1000.0, 'failure': 0.0, 'distance': 603.5190559806309, 'return': 12507.969469179956, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:45,961Z INFO episode phase=validation condition=effort__+0.0500 seed=110008 metrics={'x_velocity': 2.788465456049566, 'y_velocity': 0.0, 'planar_speed': 2.7908428749545453, 'height': 0.5704231973653232, 'yaw_rate': 0.0, 'effort': 0.1348203304130584, 'inversion': 0.03666666666666667, 'bad_contact': 0.7633333333333333, 'reward': 2.7075732579463963, 'saturation': 0.005, 'length': 1000.0, 'failure': 0.0, 'distance': 125.48094552223047, 'return': 3227.773759719996, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:45,996Z INFO episode phase=validation condition=effort__+0.0500 seed=110009 metrics={'x_velocity': 13.879983144614133, 'y_velocity': 0.0, 'planar_speed': 13.879983144614133, 'height': 0.6559496505958979, 'yaw_rate': 0.0, 'effort': 0.5893343070397774, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.526382560901874, 'saturation': 0.02092592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 624.5992415076361, 'return': 12955.49195054759, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:46,009Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': 0.05, 'effect': {'behavior': 'effort', 'effect': -0.15014246587755367, 'ci95': [-0.24166063388470152, -0.10033038710341276], 'relative_effect': -0.21725027471361727, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5409612212200752, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.484455871991644, 'effort': 0.5409612212200752, 'height': 0.6506739849746845, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.006, 'bad_contact': 0.07877777777777778, 'planar_speed': 12.4850649093813, 'saturation': 0.021574074074074075, 'reward': 12.159879139320383, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.006, 'bad_contact': 0.07877777777777778, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:46,973Z INFO episode phase=validation condition=effort__+0.1000 seed=110003 metrics={'x_velocity': 11.351285620638786, 'y_velocity': 0.0, 'planar_speed': 11.351285620638786, 'height': 0.6738419424504496, 'yaw_rate': 0.0, 'effort': 0.5582102233999305, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.01635948631074, 'saturation': 0.01611111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 510.8078529287454, 'return': 10749.495466754675, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:46,990Z INFO episode phase=validation condition=effort__+0.1000 seed=110001 metrics={'x_velocity': 11.36700562974854, 'y_velocity': 0.0, 'planar_speed': 11.36700562974854, 'height': 0.6728315557594143, 'yaw_rate': 0.0, 'effort': 0.5539051604519287, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.034662533088298, 'saturation': 0.012037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 511.5152533386843, 'return': 10614.059028910313, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:47,006Z INFO episode phase=validation condition=effort__+0.1000 seed=110000 metrics={'x_velocity': 11.121720065576508, 'y_velocity': 0.0, 'planar_speed': 11.121720065576508, 'height': 0.6718134133744919, 'yaw_rate': 0.0, 'effort': 0.5550782757997513, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.788673099970824, 'saturation': 0.021111111111111112, 'length': 1000.0, 'failure': 0.0, 'distance': 500.47740295094286, 'return': 10444.422832312624, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:47,021Z INFO episode phase=validation condition=effort__+0.1000 seed=110002 metrics={'x_velocity': 10.740767801094744, 'y_velocity': 0.0, 'planar_speed': 10.740767801094744, 'height': 0.6779780483888036, 'yaw_rate': 0.0, 'effort': 0.5658121983499991, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.401280481847154, 'saturation': 0.023888888888888887, 'length': 1000.0, 'failure': 0.0, 'distance': 483.33455104926355, 'return': 10125.370685286238, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:47,927Z INFO episode phase=validation condition=effort__+0.1000 seed=110007 metrics={'x_velocity': 1.7533351061876525, 'y_velocity': 0.0, 'planar_speed': 1.864759835993401, 'height': 0.233403779243538, 'yaw_rate': 0.0, 'effort': 0.2702577624014682, 'inversion': 0.9322222222222222, 'bad_contact': 0.4688888888888889, 'reward': 1.5911804489727726, 'saturation': 0.007407407407407408, 'length': 1000.0, 'failure': 0.0, 'distance': 78.90007977844436, 'return': 2278.8253974920913, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:47,942Z INFO episode phase=validation condition=effort__+0.1000 seed=110005 metrics={'x_velocity': 11.157296051950297, 'y_velocity': 0.0, 'planar_speed': 11.157296051950297, 'height': 0.6711061983332588, 'yaw_rate': 0.0, 'effort': 0.556210693659054, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.823569635412138, 'saturation': 0.014444444444444442, 'length': 1000.0, 'failure': 0.0, 'distance': 502.0783223377634, 'return': 10483.03053317263, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:47,958Z INFO episode phase=validation condition=effort__+0.1000 seed=110006 metrics={'x_velocity': 11.20462050882957, 'y_velocity': 0.0, 'planar_speed': 11.20462050882957, 'height': 0.6782030475312798, 'yaw_rate': 0.0, 'effort': 0.5565152442538076, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.870711362409743, 'saturation': 0.019444444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 504.2079228973307, 'return': 10542.579048400941, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:47,973Z INFO episode phase=validation condition=effort__+0.1000 seed=110004 metrics={'x_velocity': 11.405301387121284, 'y_velocity': 0.0, 'planar_speed': 11.405301387121284, 'height': 0.6733591774550679, 'yaw_rate': 0.0, 'effort': 0.5635321728967958, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.067182083610035, 'saturation': 0.015, 'length': 1000.0, 'failure': 0.0, 'distance': 513.2385624204578, 'return': 10745.631805685043, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:48,897Z INFO episode phase=validation condition=effort__+0.1000 seed=110008 metrics={'x_velocity': 11.186061064921573, 'y_velocity': 0.0, 'planar_speed': 11.186061064921573, 'height': 0.6699923872208621, 'yaw_rate': 0.0, 'effort': 0.5541512880225976, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.853570291945758, 'saturation': 0.017962962962962962, 'length': 1000.0, 'failure': 0.0, 'distance': 503.37274792147076, 'return': 10559.171090319422, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:48,912Z INFO episode phase=validation condition=effort__+0.1000 seed=110009 metrics={'x_velocity': 11.356461177353395, 'y_velocity': 0.0, 'planar_speed': 11.356461177353395, 'height': 0.6771364604158071, 'yaw_rate': 0.0, 'effort': 0.5540613982164198, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.024024338153668, 'saturation': 0.014814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 511.0407529809029, 'return': 10703.369550074203, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:48,924Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': 0.1, 'effect': {'behavior': 'effort', 'effect': -0.1623302453524537, 'ci95': [-0.2207101080922306, -0.1313695026930008], 'relative_effect': -0.23488551484101988, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5287734417451753, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.264385441342236, 'effort': 0.5287734417451753, 'height': 0.6299666010172973, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09322222222222222, 'bad_contact': 0.04688888888888889, 'planar_speed': 10.275527914322812, 'saturation': 0.016222222222222218, 'reward': 9.947121376172113, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09322222222222222, 'bad_contact': 0.04688888888888889, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:49,915Z INFO episode phase=validation condition=effort__+0.2000 seed=110003 metrics={'x_velocity': 3.3572651917523633, 'y_velocity': 0.0, 'planar_speed': 3.4419549170879535, 'height': 0.33759317810464784, 'yaw_rate': 0.0, 'effort': 0.30421219478257827, 'inversion': 0.68, 'bad_contact': 0.38555555555555554, 'reward': 3.1747378747888564, 'saturation': 0.008148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 151.07693362885635, 'return': 3692.036016384981, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:49,934Z INFO episode phase=validation condition=effort__+0.2000 seed=110001 metrics={'x_velocity': 0.857840186319171, 'y_velocity': 0.0, 'planar_speed': 0.8620584863792012, 'height': 0.561720875539791, 'yaw_rate': 0.0, 'effort': 0.06498502559132047, 'inversion': 0.008888888888888889, 'bad_contact': 0.8944444444444445, 'reward': 0.8188491711663722, 'saturation': 0.007222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 38.6028083843627, 'return': 1419.8270031805814, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:49,950Z INFO episode phase=validation condition=effort__+0.2000 seed=110000 metrics={'x_velocity': 6.995483822144539, 'y_velocity': 0.0, 'planar_speed': 6.995483822144539, 'height': 0.6724236923649247, 'yaw_rate': 0.0, 'effort': 0.5410188707253999, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 6.670872499668737, 'saturation': 0.043333333333333335, 'length': 1000.0, 'failure': 0.0, 'distance': 314.7967719965043, 'return': 6738.402292040745, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:49,966Z INFO episode phase=validation condition=effort__+0.2000 seed=110002 metrics={'x_velocity': 7.883693926735588, 'y_velocity': 0.0, 'planar_speed': 7.883693926735588, 'height': 0.6704747232095549, 'yaw_rate': 0.0, 'effort': 0.5242084715887905, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.569168843750027, 'saturation': 0.03296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 354.76622670310144, 'return': 7576.470210998823, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:50,893Z INFO episode phase=validation condition=effort__+0.2000 seed=110004 metrics={'x_velocity': 2.8528282110974064, 'y_velocity': 0.0, 'planar_speed': 2.9347960693984767, 'height': 0.3116848282370473, 'yaw_rate': 0.0, 'effort': 0.29550750316068947, 'inversion': 0.7311111111111112, 'bad_contact': 0.43666666666666665, 'reward': 2.6755237092683584, 'saturation': 0.012222222222222223, 'length': 1000.0, 'failure': 0.0, 'distance': 128.3772694993833, 'return': 3193.1392687775347, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:50,912Z INFO episode phase=validation condition=effort__+0.2000 seed=110006 metrics={'x_velocity': 0.6366468252959518, 'y_velocity': 0.0, 'planar_speed': 0.636683894587746, 'height': 0.16728852158228377, 'yaw_rate': 0.0, 'effort': 0.07439187301943699, 'inversion': 0.9722222222222222, 'bad_contact': 0.9222222222222223, 'reward': 0.5920117015463777, 'saturation': 0.0038888888888888888, 'length': 1000.0, 'failure': 0.0, 'distance': 28.649107138317834, 'return': 1291.7493536239126, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:50,926Z INFO episode phase=validation condition=effort__+0.2000 seed=110005 metrics={'x_velocity': 5.310968449762991, 'y_velocity': 0.0, 'planar_speed': 5.315210726441387, 'height': 0.640998475934134, 'yaw_rate': 0.0, 'effort': 0.40443911573539176, 'inversion': 0.011111111111111112, 'bad_contact': 0.2311111111111111, 'reward': 5.068304980352386, 'saturation': 0.03351851851851852, 'length': 1000.0, 'failure': 0.0, 'distance': 238.99358023933462, 'return': 5303.292343618852, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:50,940Z INFO episode phase=validation condition=effort__+0.2000 seed=110007 metrics={'x_velocity': 7.937628293718246, 'y_velocity': 0.0, 'planar_speed': 7.937628293718246, 'height': 0.655851192796196, 'yaw_rate': 0.0, 'effort': 0.5179525233887964, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.626856779895241, 'saturation': 0.019629629629629625, 'length': 1000.0, 'failure': 0.0, 'distance': 357.1932732173211, 'return': 7710.934095322313, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:51,894Z INFO episode phase=validation condition=effort__+0.2000 seed=110008 metrics={'x_velocity': 2.671461493666785, 'y_velocity': 0.0, 'planar_speed': 2.759199240686019, 'height': 0.30153646576777543, 'yaw_rate': 0.0, 'effort': 0.2906027061968214, 'inversion': 0.7466666666666667, 'bad_contact': 0.44333333333333336, 'reward': 2.497099869932135, 'saturation': 0.009629629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 120.21576721500533, 'return': 3038.3477105071606, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:51,917Z INFO episode phase=validation condition=effort__+0.2000 seed=110009 metrics={'x_velocity': 1.1248703378479592, 'y_velocity': 0.0, 'planar_speed': 1.134775937658728, 'height': 0.557033706847624, 'yaw_rate': 0.0, 'effort': 0.6958336473421918, 'inversion': 0.0, 'bad_contact': 0.7877777777777778, 'reward': 0.7073701491528991, 'saturation': 0.02481481481481481, 'length': 1000.0, 'failure': 0.0, 'distance': 50.61916520315816, 'return': 1418.380779973513, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:51,930Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': 0.2, 'effect': {'behavior': 'effort', 'effect': -0.3197884939444872, 'ci95': [-0.4399990004748519, -0.204726127961397], 'relative_effect': -0.4627214409569663, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.37131519315314165, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 3.9628686738340995, 'effort': 0.37131519315314165, 'height': 0.4876605660383978, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.315, 'bad_contact': 0.4101111111111111, 'planar_speed': 3.9901485314837886, 'saturation': 0.019537037037037037, 'reward': 3.7400795579521384, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.315, 'bad_contact': 0.4101111111111111, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:52,894Z INFO episode phase=validation condition=effort__+0.5000 seed=110001 metrics={'x_velocity': 1.4199248467416918, 'y_velocity': 0.0, 'planar_speed': 1.4205544990972954, 'height': 0.5891282570749306, 'yaw_rate': 0.0, 'effort': 0.7654313460820251, 'inversion': 0.0, 'bad_contact': 0.6955555555555556, 'reward': 0.9606660406918679, 'saturation': 0.1422222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 63.89661810337614, 'return': 1547.4621857535276, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:52,911Z INFO episode phase=validation condition=effort__+0.5000 seed=110002 metrics={'x_velocity': 2.478920691015973, 'y_velocity': 0.0, 'planar_speed': 2.5347709071345665, 'height': 0.621312355979203, 'yaw_rate': 0.0, 'effort': 0.6012880884855986, 'inversion': 0.0, 'bad_contact': 0.2822222222222222, 'reward': 2.118147838820339, 'saturation': 0.09444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 111.55143109571878, 'return': 2670.5513065621044, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:52,927Z INFO episode phase=validation condition=effort__+0.5000 seed=110003 metrics={'x_velocity': 3.4943436288891037, 'y_velocity': 0.0, 'planar_speed': 3.4966332911464053, 'height': 0.6345973305884387, 'yaw_rate': 0.0, 'effort': 0.5553477605473665, 'inversion': 0.0, 'bad_contact': 0.17777777777777778, 'reward': 3.161134973200606, 'saturation': 0.08185185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 157.24546330000967, 'return': 3679.793404955555, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:52,942Z INFO episode phase=validation condition=effort__+0.5000 seed=110000 metrics={'x_velocity': 3.7846040331203272, 'y_velocity': 0.0, 'planar_speed': 3.842081652172807, 'height': 0.6429440967818333, 'yaw_rate': 0.0, 'effort': 0.48124744359817767, 'inversion': 0.0, 'bad_contact': 0.008888888888888889, 'reward': 3.495855566966388, 'saturation': 0.062222222222222213, 'length': 1000.0, 'failure': 0.0, 'distance': 170.30718149041473, 'return': 3880.8870526086325, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:53,896Z INFO episode phase=validation condition=effort__+0.5000 seed=110005 metrics={'x_velocity': 3.851680478159616, 'y_velocity': 0.0, 'planar_speed': 3.9011583971278787, 'height': 0.6509130336083854, 'yaw_rate': 0.0, 'effort': 0.4747620994349321, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 3.566823218505279, 'saturation': 0.05722222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 173.32562151718273, 'return': 3951.9587579564554, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:53,911Z INFO episode phase=validation condition=effort__+0.5000 seed=110004 metrics={'x_velocity': 1.2279567845611177, 'y_velocity': 0.0, 'planar_speed': 1.3631321254102367, 'height': 0.2334617042480172, 'yaw_rate': 0.0, 'effort': 0.2083417412363148, 'inversion': 0.8511111111111112, 'bad_contact': 0.68, 'reward': 1.1029517400157085, 'saturation': 0.017777777777777774, 'length': 1000.0, 'failure': 0.0, 'distance': 55.2580553052503, 'return': 1777.8244964501498, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:53,926Z INFO episode phase=validation condition=effort__+0.5000 seed=110007 metrics={'x_velocity': 2.3401813591043696, 'y_velocity': 0.0, 'planar_speed': 2.436322509186134, 'height': 0.3538513820791678, 'yaw_rate': 0.0, 'effort': 0.2753774167907735, 'inversion': 0.6088888888888889, 'bad_contact': 0.4855555555555556, 'reward': 2.1749549091484424, 'saturation': 0.02, 'length': 1000.0, 'failure': 0.0, 'distance': 105.30816115969662, 'return': 2804.222411650194, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:53,942Z INFO episode phase=validation condition=effort__+0.5000 seed=110006 metrics={'x_velocity': 3.4478358831513334, 'y_velocity': 0.0, 'planar_speed': 3.5052405110103377, 'height': 0.5937780829539545, 'yaw_rate': 0.0, 'effort': 0.4200006334060648, 'inversion': 0.13, 'bad_contact': 0.10333333333333333, 'reward': 3.1958355028022982, 'saturation': 0.045370370370370366, 'length': 1000.0, 'failure': 0.0, 'distance': 155.15261474181, 'return': 3635.190774754241, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:54,806Z INFO episode phase=validation condition=effort__+0.5000 seed=110008 metrics={'x_velocity': 1.5395226913171458, 'y_velocity': 0.0, 'planar_speed': 1.54215577478357, 'height': 0.5952817102973055, 'yaw_rate': 0.0, 'effort': 0.7707496168795559, 'inversion': 0.0, 'bad_contact': 0.6933333333333334, 'reward': 1.0770729226282016, 'saturation': 0.14574074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 69.27852110927157, 'return': 1760.3234579336208, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:54,821Z INFO episode phase=validation condition=effort__+0.5000 seed=110009 metrics={'x_velocity': 2.424003605782976, 'y_velocity': 0.0, 'planar_speed': 2.4685385739856915, 'height': 0.6294510923478631, 'yaw_rate': 0.0, 'effort': 0.5901100362878706, 'inversion': 0.0, 'bad_contact': 0.26, 'reward': 2.069937586327384, 'saturation': 0.0987037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 109.08016226023392, 'return': 2644.691473430549, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:54,835Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': 0.5, 'effect': {'behavior': 'effort', 'effect': -0.17683806882276099, 'ci95': [-0.2908009728918117, -0.07053338268643462], 'relative_effect': -0.25587776787216, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5142656182748679, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.6008974001843654, 'effort': 0.5142656182748679, 'height': 0.5544719045959099, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.159, 'bad_contact': 0.3387777777777778, 'planar_speed': 2.6510588241054927, 'saturation': 0.07655555555555556, 'reward': 2.2923380299106517, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.159, 'bad_contact': 0.3387777777777778, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:55,929Z INFO episode phase=validation condition=effort_random0__-0.5000 seed=110003 metrics={'x_velocity': 0.6985556156077807, 'y_velocity': 0.0, 'planar_speed': 0.7032856006773034, 'height': 0.5782990211507886, 'yaw_rate': 0.0, 'effort': 0.04803525168086505, 'inversion': 0.011111111111111112, 'bad_contact': 0.9133333333333333, 'reward': 0.669734464584671, 'saturation': 0.012037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 31.435002702350133, 'return': 1437.5329472012136, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:55,943Z INFO episode phase=validation condition=effort_random0__-0.5000 seed=110000 metrics={'x_velocity': 2.9936631504964963, 'y_velocity': 0.0, 'planar_speed': 3.0730375369922664, 'height': 0.35530824200729916, 'yaw_rate': 0.0, 'effort': 0.41539005792699757, 'inversion': 0.67, 'bad_contact': 0.2477777777777778, 'reward': 2.7444291159077285, 'saturation': 0.08740740740740739, 'length': 1000.0, 'failure': 0.0, 'distance': 134.71484177234234, 'return': 3204.6032466558386, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:55,962Z INFO episode phase=validation condition=effort_random0__-0.5000 seed=110002 metrics={'x_velocity': 6.212389385134522, 'y_velocity': 0.0, 'planar_speed': 6.213414234983914, 'height': 0.6672153922706807, 'yaw_rate': 0.0, 'effort': 0.6610403246018621, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 5.815765190436321, 'saturation': 0.24944444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 279.5575223310535, 'return': 5998.406923016488, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:55,978Z INFO episode phase=validation condition=effort_random0__-0.5000 seed=110001 metrics={'x_velocity': 6.371025265430006, 'y_velocity': 0.0, 'planar_speed': 6.399703951025129, 'height': 0.6671279242816358, 'yaw_rate': 0.0, 'effort': 0.6585409783158037, 'inversion': 0.008888888888888889, 'bad_contact': 0.011111111111111112, 'reward': 5.975900677973621, 'saturation': 0.24925925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 286.6961369443503, 'return': 6061.173359307106, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:56,854Z INFO episode phase=validation condition=effort_random0__-0.5000 seed=110005 metrics={'x_velocity': 6.370004694646109, 'y_velocity': 0.0, 'planar_speed': 6.404240510049129, 'height': 0.6555827349482763, 'yaw_rate': 0.0, 'effort': 0.6626640056363411, 'inversion': 0.0, 'bad_contact': 0.005555555555555556, 'reward': 5.972406291907538, 'saturation': 0.2459259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 286.6502112590749, 'return': 6116.983524018489, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:56,887Z INFO episode phase=validation condition=effort_random0__-0.5000 seed=110004 metrics={'x_velocity': 6.76132273937585, 'y_velocity': 0.0, 'planar_speed': 6.76132273937585, 'height': 0.6604368515169953, 'yaw_rate': 0.0, 'effort': 0.6572811678797007, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 6.366954038388088, 'saturation': 0.24370370370370367, 'length': 1000.0, 'failure': 0.0, 'distance': 304.2595232719133, 'return': 6515.4265649852905, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:56,915Z INFO episode phase=validation condition=effort_random0__-0.5000 seed=110007 metrics={'x_velocity': 5.381315865043628, 'y_velocity': 0.0, 'planar_speed': 5.413299227557834, 'height': 0.6291134309280955, 'yaw_rate': 0.0, 'effort': 0.641351195851134, 'inversion': 0.09777777777777778, 'bad_contact': 0.03111111111111111, 'reward': 4.9965051475668885, 'saturation': 0.2412962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 242.15921392696325, 'return': 5343.617626226795, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:56,931Z INFO episode phase=validation condition=effort_random0__-0.5000 seed=110006 metrics={'x_velocity': 0.6924770381041354, 'y_velocity': 0.0, 'planar_speed': 0.6961951017076861, 'height': 0.5845535842080577, 'yaw_rate': 0.0, 'effort': 0.045038143841860195, 'inversion': 0.014444444444444444, 'bad_contact': 0.9122222222222223, 'reward': 0.6654541519305428, 'saturation': 0.00925925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 31.161466714686096, 'return': 1357.8475589696611, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:13:57,758Z INFO episode phase=validation condition=effort_random0__-0.5000 seed=110009 metrics={'x_velocity': 6.583931525691177, 'y_velocity': 0.0, 'planar_speed': 6.583943525591701, 'height': 0.6578802885801333, 'yaw_rate': 0.0, 'effort': 0.6574009196460247, 'inversion': 0.0, 'bad_contact': 0.0044444444444444444, 'reward': 6.189490974052573, 'saturation': 0.24259259259259258, 'length': 1000.0, 'failure': 0.0, 'distance': 296.27691865610296, 'return': 6352.289522383219, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:13:57,773Z INFO episode phase=validation condition=effort_random0__-0.5000 seed=110008 metrics={'x_velocity': 6.009295395822663, 'y_velocity': 0.0, 'planar_speed': 6.01266951148267, 'height': 0.6598464348967775, 'yaw_rate': 0.0, 'effort': 0.6676816852307982, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 5.608686385172611, 'saturation': 0.2507407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 270.41829281201984, 'return': 5838.7755742235895, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:13:57,788Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': -0.5, 'effect': {'behavior': 'effort', 'effect': -0.1796613140364902, 'ci95': [-0.3382136978570423, -0.03834658360202907], 'relative_effect': -0.25996289325412075, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5114423730611387, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 4.807398067535237, 'effort': 0.5114423730611387, 'height': 0.611536390478874, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.08022222222222222, 'bad_contact': 0.2133333333333333, 'planar_speed': 4.826111193944348, 'saturation': 0.18316666666666664, 'reward': 4.5005326437920585, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.08022222222222222, 'bad_contact': 0.2133333333333333, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:13:58,696Z INFO episode phase=validation condition=effort_random0__-0.2000 seed=110003 metrics={'x_velocity': 14.831491397408014, 'y_velocity': 0.0, 'planar_speed': 14.831491397408014, 'height': 0.6339785024463248, 'yaw_rate': 0.0, 'effort': 0.6771500303347906, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.425201379485296, 'saturation': 0.12481481481481481, 'length': 1000.0, 'failure': 0.0, 'distance': 667.4171128833607, 'return': 13817.453170611776, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:13:58,721Z INFO episode phase=validation condition=effort_random0__-0.2000 seed=110001 metrics={'x_velocity': 14.116600481003122, 'y_velocity': 0.0, 'planar_speed': 14.116600481003122, 'height': 0.6372042778221471, 'yaw_rate': 0.0, 'effort': 0.6646520877215597, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.71780922886689, 'saturation': 0.11388888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 635.2470216451405, 'return': 13028.89105511105, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:13:58,739Z INFO episode phase=validation condition=effort_random0__-0.2000 seed=110000 metrics={'x_velocity': 14.507696343307039, 'y_velocity': 0.0, 'planar_speed': 14.507696343307039, 'height': 0.6311550988855199, 'yaw_rate': 0.0, 'effort': 0.659479076233175, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.112008897229371, 'saturation': 0.10277777777777777, 'length': 1000.0, 'failure': 0.0, 'distance': 652.8463354488167, 'return': 13435.425049845318, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:13:58,753Z INFO episode phase=validation condition=effort_random0__-0.2000 seed=110002 metrics={'x_velocity': 14.260021854165403, 'y_velocity': 0.0, 'planar_speed': 14.260021854165403, 'height': 0.6408613872348676, 'yaw_rate': 0.0, 'effort': 0.6588420217898157, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.864716641091514, 'saturation': 0.10407407407407408, 'length': 1000.0, 'failure': 0.0, 'distance': 641.7009834374431, 'return': 13242.463228606162, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:13:59,609Z INFO episode phase=validation condition=effort_random0__-0.2000 seed=110004 metrics={'x_velocity': 15.114378517481567, 'y_velocity': 0.0, 'planar_speed': 15.114378517481567, 'height': 0.6304436841262017, 'yaw_rate': 0.0, 'effort': 0.6839737694131004, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.703994255754235, 'saturation': 0.13574074074074072, 'length': 1000.0, 'failure': 0.0, 'distance': 680.1470332866706, 'return': 14018.762760614825, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:13:59,649Z INFO episode phase=validation condition=effort_random0__-0.2000 seed=110007 metrics={'x_velocity': 14.104700686193354, 'y_velocity': 0.0, 'planar_speed': 14.104700686193354, 'height': 0.6367740799399685, 'yaw_rate': 0.0, 'effort': 0.6678905396163464, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.703966362903694, 'saturation': 0.1137037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 634.711530878701, 'return': 13180.332720029919, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:13:59,663Z INFO episode phase=validation condition=effort_random0__-0.2000 seed=110005 metrics={'x_velocity': 14.469819149722708, 'y_velocity': 0.0, 'planar_speed': 14.469819149722708, 'height': 0.6334260974958725, 'yaw_rate': 0.0, 'effort': 0.6664790481328964, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.069931720485343, 'saturation': 0.11462962962962962, 'length': 1000.0, 'failure': 0.0, 'distance': 651.1418617375219, 'return': 13404.756409738513, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:13:59,679Z INFO episode phase=validation condition=effort_random0__-0.2000 seed=110006 metrics={'x_velocity': 14.992511921451161, 'y_velocity': 0.0, 'planar_speed': 14.992511921451161, 'height': 0.6323220411350982, 'yaw_rate': 0.0, 'effort': 0.6822365781664849, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.58316997414728, 'saturation': 0.13666666666666666, 'length': 1000.0, 'failure': 0.0, 'distance': 674.6630364653023, 'return': 13883.791798964725, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:00,579Z INFO episode phase=validation condition=effort_random0__-0.2000 seed=110008 metrics={'x_velocity': 14.16457768232663, 'y_velocity': 0.0, 'planar_speed': 14.16457768232663, 'height': 0.6362596474679957, 'yaw_rate': 0.0, 'effort': 0.6653738122102287, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.765353395167716, 'saturation': 0.11388888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 637.4059957046984, 'return': 13179.775883219185, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:00,625Z INFO episode phase=validation condition=effort_random0__-0.2000 seed=110009 metrics={'x_velocity': 14.580917345934076, 'y_velocity': 0.0, 'planar_speed': 14.580917345934076, 'height': 0.6374639543381619, 'yaw_rate': 0.0, 'effort': 0.6631762102080716, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.18301162004434, 'saturation': 0.10666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 656.1412805670334, 'return': 13546.45810377581, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:00,639Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': -0.2, 'effect': {'behavior': 'effort', 'effect': -0.022178369714981994, 'ci95': [-0.027144368454131054, -0.01642143994093771], 'relative_effect': -0.0320912333836948, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6689253173826468, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 14.514271537899308, 'effort': 0.6689253173826468, 'height': 0.6349888770892157, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 14.514271537899308, 'saturation': 0.11668518518518518, 'reward': 14.112916347517569, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:01,631Z INFO episode phase=validation condition=effort_random0__-0.1000 seed=110000 metrics={'x_velocity': 15.638255981603873, 'y_velocity': 0.0, 'planar_speed': 15.638255981603873, 'height': 0.6063952085564176, 'yaw_rate': 0.0, 'effort': 0.6913111456400818, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.223469294229758, 'saturation': 0.03481481481481482, 'length': 1000.0, 'failure': 0.0, 'distance': 703.7215191721743, 'return': 14435.739407145666, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:01,647Z INFO episode phase=validation condition=effort_random0__-0.1000 seed=110003 metrics={'x_velocity': 16.055077203578726, 'y_velocity': 0.0, 'planar_speed': 16.055077203578726, 'height': 0.5921662379828718, 'yaw_rate': 0.0, 'effort': 0.7092558356788423, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.629523701442919, 'saturation': 0.002592592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 722.4784741610428, 'return': 14901.343260373636, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:01,664Z INFO episode phase=validation condition=effort_random0__-0.1000 seed=110001 metrics={'x_velocity': 16.02919997593635, 'y_velocity': 0.0, 'planar_speed': 16.02919997593635, 'height': 0.5916226588687433, 'yaw_rate': 0.0, 'effort': 0.7101505445109473, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.603109649653636, 'saturation': 0.002222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 721.3139989171358, 'return': 14725.661433819118, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:01,678Z INFO episode phase=validation condition=effort_random0__-0.1000 seed=110002 metrics={'x_velocity': 16.02348632627211, 'y_velocity': 0.0, 'planar_speed': 16.02348632627211, 'height': 0.5919700853786314, 'yaw_rate': 0.0, 'effort': 0.7099286015166176, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.597529164898548, 'saturation': 0.005555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 721.0568846822449, 'return': 14801.994500032491, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:02,565Z INFO episode phase=validation condition=effort_random0__-0.1000 seed=110007 metrics={'x_velocity': 16.05717409749108, 'y_velocity': 0.0, 'planar_speed': 16.05717409749108, 'height': 0.5922064510255364, 'yaw_rate': 0.0, 'effort': 0.7091110581159592, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.631707462555278, 'saturation': 0.004259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 722.5728343870987, 'return': 14915.299709716346, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:02,581Z INFO episode phase=validation condition=effort_random0__-0.1000 seed=110004 metrics={'x_velocity': 16.035901847134955, 'y_velocity': 0.0, 'planar_speed': 16.035901847134955, 'height': 0.5916468896388231, 'yaw_rate': 0.0, 'effort': 0.7097838980621761, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.610031508747996, 'saturation': 0.002777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 721.6155831210731, 'return': 14834.19628830921, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:02,597Z INFO episode phase=validation condition=effort_random0__-0.1000 seed=110006 metrics={'x_velocity': 16.045063704039844, 'y_velocity': 0.0, 'planar_speed': 16.045063704039844, 'height': 0.5918350398412018, 'yaw_rate': 0.0, 'effort': 0.7098347436719471, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.619162857690975, 'saturation': 0.002037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 722.0278666817931, 'return': 14816.18539415405, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:02,611Z INFO episode phase=validation condition=effort_random0__-0.1000 seed=110005 metrics={'x_velocity': 15.864428908533482, 'y_velocity': 0.0, 'planar_speed': 15.864428908533482, 'height': 0.6013484239657646, 'yaw_rate': 0.0, 'effort': 0.697407924566004, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.445984153747522, 'saturation': 0.020925925925925924, 'length': 1000.0, 'failure': 0.0, 'distance': 713.8993008840067, 'return': 14643.203599674474, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:03,506Z INFO episode phase=validation condition=effort_random0__-0.1000 seed=110008 metrics={'x_velocity': 15.970290728203734, 'y_velocity': 0.0, 'planar_speed': 15.970290728203734, 'height': 0.5969711798477801, 'yaw_rate': 0.0, 'effort': 0.70130365424686, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.549508535894038, 'saturation': 0.012037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 718.6630827691681, 'return': 14785.515509872872, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:03,524Z INFO episode phase=validation condition=effort_random0__-0.1000 seed=110009 metrics={'x_velocity': 15.72354679011772, 'y_velocity': 0.0, 'planar_speed': 15.72354679011772, 'height': 0.6068590654753732, 'yaw_rate': 0.0, 'effort': 0.6879643330309126, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.310768190484607, 'saturation': 0.03166666666666666, 'length': 1000.0, 'failure': 0.0, 'distance': 707.5596055552974, 'return': 14561.439017172052, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:03,537Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': -0.1, 'effect': {'behavior': 'effort', 'effect': 0.012501486806405882, 'ci95': [0.006953015806774256, 0.016983110051353747], 'relative_effect': 0.01808916236419942, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.7036051739040348, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.94424255629119, 'effort': 0.7036051739040348, 'height': 0.5963021240581143, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 15.94424255629119, 'saturation': 0.01188888888888889, 'reward': 15.522079451934527, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:04,519Z INFO episode phase=validation condition=effort_random0__-0.0500 seed=110001 metrics={'x_velocity': 16.406141114226415, 'y_velocity': 0.0, 'planar_speed': 16.406141114226415, 'height': 0.5917541296554812, 'yaw_rate': 0.0, 'effort': 0.7016853775249587, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.985129887360438, 'saturation': 0.013148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 738.2763501401887, 'return': 15069.479647755239, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:04,534Z INFO episode phase=validation condition=effort_random0__-0.0500 seed=110002 metrics={'x_velocity': 16.419072035115928, 'y_velocity': 0.0, 'planar_speed': 16.419072035115928, 'height': 0.5918366368570763, 'yaw_rate': 0.0, 'effort': 0.7017687228322029, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.998010801039108, 'saturation': 0.008703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 738.8582415802168, 'return': 15162.427972558999, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:04,549Z INFO episode phase=validation condition=effort_random0__-0.0500 seed=110000 metrics={'x_velocity': 16.409307928164655, 'y_velocity': 0.0, 'planar_speed': 16.409307928164655, 'height': 0.5917325315628054, 'yaw_rate': 0.0, 'effort': 0.7019796692331632, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.98812012630024, 'saturation': 0.010555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 738.4188567674095, 'return': 15123.9251560091, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:04,564Z INFO episode phase=validation condition=effort_random0__-0.0500 seed=110003 metrics={'x_velocity': 16.435786502372384, 'y_velocity': 0.0, 'planar_speed': 16.435786502372384, 'height': 0.5916881047175939, 'yaw_rate': 0.0, 'effort': 0.7013812064131101, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.014957778517896, 'saturation': 0.012037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 739.6103926067573, 'return': 15248.233929741114, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:05,555Z INFO episode phase=validation condition=effort_random0__-0.0500 seed=110004 metrics={'x_velocity': 16.43876494138829, 'y_velocity': 0.0, 'planar_speed': 16.43876494138829, 'height': 0.5916034459854286, 'yaw_rate': 0.0, 'effort': 0.7024282555447684, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.017307988021695, 'saturation': 0.009444444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 739.7444223624731, 'return': 15200.745119655538, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:05,569Z INFO episode phase=validation condition=effort_random0__-0.0500 seed=110005 metrics={'x_velocity': 16.417799218195118, 'y_velocity': 0.0, 'planar_speed': 16.417799218195118, 'height': 0.5917664092274046, 'yaw_rate': 0.0, 'effort': 0.7015630657143063, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.996861378687061, 'saturation': 0.010555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 738.8009648187804, 'return': 15138.993102120061, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:05,586Z INFO episode phase=validation condition=effort_random0__-0.0500 seed=110006 metrics={'x_velocity': 16.451871928307533, 'y_velocity': 0.0, 'planar_speed': 16.451871928307533, 'height': 0.5919100645707037, 'yaw_rate': 0.0, 'effort': 0.7013841636644469, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.031041429983034, 'saturation': 0.00574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 740.334236773839, 'return': 15186.876109216902, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:05,601Z INFO episode phase=validation condition=effort_random0__-0.0500 seed=110007 metrics={'x_velocity': 16.45172212783937, 'y_velocity': 0.0, 'planar_speed': 16.45172212783937, 'height': 0.5915542439421421, 'yaw_rate': 0.0, 'effort': 0.7021167436242104, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.030452082267516, 'saturation': 0.01222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 740.3274957527717, 'return': 15274.16986745736, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:06,572Z INFO episode phase=validation condition=effort_random0__-0.0500 seed=110008 metrics={'x_velocity': 16.441254948845913, 'y_velocity': 0.0, 'planar_speed': 16.441254948845913, 'height': 0.5917458533437003, 'yaw_rate': 0.0, 'effort': 0.7017678509818183, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.02019423807139, 'saturation': 0.010555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 739.8564726980662, 'return': 15209.13264183249, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:06,588Z INFO episode phase=validation condition=effort_random0__-0.0500 seed=110009 metrics={'x_velocity': 16.42934617359934, 'y_velocity': 0.0, 'planar_speed': 16.42934617359934, 'height': 0.5918265009438526, 'yaw_rate': 0.0, 'effort': 0.7012223266230689, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.008612777757953, 'saturation': 0.009629629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 739.3205778119702, 'return': 15189.499145718062, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:06,600Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': -0.05, 'effect': {'behavior': 'effort', 'effect': 0.010626051117976487, 'ci95': [0.009825671258237608, 0.011433278545240531], 'relative_effect': 0.015375480288061892, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.7017297382156055, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.43010669180549, 'effort': 0.7017297382156055, 'height': 0.591741792080619, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.43010669180549, 'saturation': 0.010259259259259258, 'reward': 16.00906884880063, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:07,557Z INFO episode phase=validation condition=effort_random0__+0.0500 seed=110001 metrics={'x_velocity': 15.80557310865575, 'y_velocity': 0.0, 'planar_speed': 15.80557310865575, 'height': 0.6127967204610105, 'yaw_rate': 0.0, 'effort': 0.658527060697476, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.410456872339916, 'saturation': 0.035555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 711.2507898895087, 'return': 14552.273934236771, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:07,574Z INFO episode phase=validation condition=effort_random0__+0.0500 seed=110003 metrics={'x_velocity': 3.718144206101241, 'y_velocity': 0.0, 'planar_speed': 3.81920648723957, 'height': 0.29575837976686153, 'yaw_rate': 0.0, 'effort': 0.3340988944056961, 'inversion': 0.8311111111111111, 'bad_contact': 0.39111111111111113, 'reward': 3.5176848695530256, 'saturation': 0.016481481481481482, 'length': 1000.0, 'failure': 0.0, 'distance': 167.31648927455586, 'return': 4000.6883116727327, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:07,589Z INFO episode phase=validation condition=effort_random0__+0.0500 seed=110002 metrics={'x_velocity': 9.947350688149406, 'y_velocity': 0.0, 'planar_speed': 9.951725581659856, 'height': 0.6167573922986953, 'yaw_rate': 0.0, 'effort': 0.449757854986108, 'inversion': 0.027777777777777776, 'bad_contact': 0.3, 'reward': 9.67749597475417, 'saturation': 0.02944444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 447.63078096672325, 'return': 9473.964628902551, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:07,604Z INFO episode phase=validation condition=effort_random0__+0.0500 seed=110000 metrics={'x_velocity': 14.743705495104239, 'y_velocity': 0.0, 'planar_speed': 14.743705495104239, 'height': 0.6216784305687513, 'yaw_rate': 0.0, 'effort': 0.6347426674266656, 'inversion': 0.01, 'bad_contact': 0.0022222222222222222, 'reward': 14.362859895146602, 'saturation': 0.0387037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 663.4667472796908, 'return': 13661.190947970823, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:08,464Z INFO episode phase=validation condition=effort_random0__+0.0500 seed=110005 metrics={'x_velocity': 15.294851739131884, 'y_velocity': 0.0, 'planar_speed': 15.294851739131884, 'height': 0.6266861809205215, 'yaw_rate': 0.0, 'effort': 0.6614250191715029, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.897996727443545, 'saturation': 0.03685185185185186, 'length': 1000.0, 'failure': 0.0, 'distance': 688.2683282609348, 'return': 14150.014916000895, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:08,479Z INFO episode phase=validation condition=effort_random0__+0.0500 seed=110004 metrics={'x_velocity': 15.356114682647291, 'y_velocity': 0.0, 'planar_speed': 15.356114682647291, 'height': 0.6270270763065616, 'yaw_rate': 0.0, 'effort': 0.662283141894473, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.95874479738809, 'saturation': 0.04037037037037036, 'length': 1000.0, 'failure': 0.0, 'distance': 691.0251607191282, 'return': 14248.038248085291, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:08,495Z INFO episode phase=validation condition=effort_random0__+0.0500 seed=110006 metrics={'x_velocity': 15.607121357757958, 'y_velocity': 0.0, 'planar_speed': 15.607121357757958, 'height': 0.6150862331371462, 'yaw_rate': 0.0, 'effort': 0.6634419486423333, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.20905618864872, 'saturation': 0.03685185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 702.3204610991081, 'return': 14447.08939201602, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:08,510Z INFO episode phase=validation condition=effort_random0__+0.0500 seed=110007 metrics={'x_velocity': 15.088168505329024, 'y_velocity': 0.0, 'planar_speed': 15.088168505329024, 'height': 0.6233477579251949, 'yaw_rate': 0.0, 'effort': 0.6555465542773405, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.694840572534133, 'saturation': 0.038148148148148146, 'length': 1000.0, 'failure': 0.0, 'distance': 678.9675827398062, 'return': 14072.119508697318, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:09,375Z INFO episode phase=validation condition=effort_random0__+0.0500 seed=110008 metrics={'x_velocity': 15.281079122028776, 'y_velocity': 0.0, 'planar_speed': 15.281079122028776, 'height': 0.6173371038033414, 'yaw_rate': 0.0, 'effort': 0.6574916567073928, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.886584127838772, 'saturation': 0.038518518518518514, 'length': 1000.0, 'failure': 0.0, 'distance': 687.648560491295, 'return': 14188.883542623134, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:09,390Z INFO episode phase=validation condition=effort_random0__+0.0500 seed=110009 metrics={'x_velocity': 15.32739687303775, 'y_velocity': 0.0, 'planar_speed': 15.32739687303775, 'height': 0.6220319843882963, 'yaw_rate': 0.0, 'effort': 0.6608416960305638, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.930891855743926, 'saturation': 0.03722222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 689.7328592866988, 'return': 14219.550315905437, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:09,401Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': 0.05, 'effect': {'behavior': 'effort', 'effect': -0.08728803767367371, 'ci95': [-0.16180543998086622, -0.032282475141228915], 'relative_effect': -0.12630237589998988, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6038156494239553, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 13.616950577794332, 'effort': 0.6038156494239553, 'height': 0.587850725957638, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.08688888888888889, 'bad_contact': 0.06933333333333333, 'planar_speed': 13.627494295259208, 'saturation': 0.03481481481481481, 'reward': 13.25466118813909, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.08688888888888889, 'bad_contact': 0.06933333333333333, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:10,330Z INFO episode phase=validation condition=effort_random0__+0.1000 seed=110000 metrics={'x_velocity': 12.625620248609888, 'y_velocity': 0.0, 'planar_speed': 12.625620248609888, 'height': 0.6512223868731182, 'yaw_rate': 0.0, 'effort': 0.6359635209126605, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 12.244042136179846, 'saturation': 0.07407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 568.152911187445, 'return': 11754.254964900745, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:10,344Z INFO episode phase=validation condition=effort_random0__+0.1000 seed=110002 metrics={'x_velocity': 14.719112646158889, 'y_velocity': 0.0, 'planar_speed': 14.719112646158889, 'height': 0.6228220120831153, 'yaw_rate': 0.0, 'effort': 0.6345922907110717, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.338357271985565, 'saturation': 0.05685185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 662.36006907715, 'return': 13668.739796410808, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:10,361Z INFO episode phase=validation condition=effort_random0__+0.1000 seed=110003 metrics={'x_velocity': 14.425039997853869, 'y_velocity': 0.0, 'planar_speed': 14.425039997853869, 'height': 0.6226746408321572, 'yaw_rate': 0.0, 'effort': 0.6434078221685356, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.038995304397114, 'saturation': 0.06333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 649.1267999034242, 'return': 13469.867703032412, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:10,377Z INFO episode phase=validation condition=effort_random0__+0.1000 seed=110001 metrics={'x_velocity': 14.416256834029644, 'y_velocity': 0.0, 'planar_speed': 14.416256834029644, 'height': 0.6401109670152252, 'yaw_rate': 0.0, 'effort': 0.6436863854030768, 'inversion': 0.023333333333333334, 'bad_contact': 0.0, 'reward': 14.030045002711635, 'saturation': 0.08148148148148146, 'length': 1000.0, 'failure': 0.0, 'distance': 648.731557531334, 'return': 13309.903251571319, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:11,267Z INFO episode phase=validation condition=effort_random0__+0.1000 seed=110006 metrics={'x_velocity': 14.409929329859864, 'y_velocity': 0.0, 'planar_speed': 14.409929329859864, 'height': 0.62679166178528, 'yaw_rate': 0.0, 'effort': 0.6341571541296112, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.029435037348986, 'saturation': 0.05444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 648.4468198436939, 'return': 13385.43035584626, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:11,283Z INFO episode phase=validation condition=effort_random0__+0.1000 seed=110004 metrics={'x_velocity': 13.56317162784728, 'y_velocity': 0.0, 'planar_speed': 13.56317162784728, 'height': 0.6414153246634302, 'yaw_rate': 0.0, 'effort': 0.6295778952062958, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.18542489082574, 'saturation': 0.055, 'length': 1000.0, 'failure': 0.0, 'distance': 610.3427232531276, 'return': 12652.050332179178, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:11,303Z INFO episode phase=validation condition=effort_random0__+0.1000 seed=110005 metrics={'x_velocity': 4.7950120276701504, 'y_velocity': 0.0, 'planar_speed': 4.810031464144431, 'height': 0.5893877923772096, 'yaw_rate': 0.0, 'effort': 0.24087297963081963, 'inversion': 0.008888888888888889, 'bad_contact': 0.6066666666666667, 'reward': 4.650488239785902, 'saturation': 0.024999999999999994, 'length': 1000.0, 'failure': 0.0, 'distance': 215.77554124515677, 'return': 4927.257277109016, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:11,318Z INFO episode phase=validation condition=effort_random0__+0.1000 seed=110007 metrics={'x_velocity': 13.835918582501417, 'y_velocity': 0.0, 'planar_speed': 13.835918582501417, 'height': 0.6285261925099042, 'yaw_rate': 0.0, 'effort': 0.6251973908891281, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.460800147972906, 'saturation': 0.05722222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 622.6163362125639, 'return': 12961.483126592213, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:12,152Z INFO episode phase=validation condition=effort_random0__+0.1000 seed=110008 metrics={'x_velocity': 14.242904476370132, 'y_velocity': 0.0, 'planar_speed': 14.242904476370132, 'height': 0.6305932407950374, 'yaw_rate': 0.0, 'effort': 0.6331570473396115, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.86301024813359, 'saturation': 0.05518518518518519, 'length': 1000.0, 'failure': 0.0, 'distance': 640.9307014366559, 'return': 13267.66705088847, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:12,167Z INFO episode phase=validation condition=effort_random0__+0.1000 seed=110009 metrics={'x_velocity': 14.086974280754458, 'y_velocity': 0.0, 'planar_speed': 14.086974280754458, 'height': 0.6411604760106223, 'yaw_rate': 0.0, 'effort': 0.6351337846865257, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.705894009657767, 'saturation': 0.06666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 633.9138426339506, 'return': 13117.052254427894, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:12,179Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': 0.1, 'effect': {'behavior': 'effort', 'effect': -0.09552905998989528, 'ci95': [-0.17511365547505103, -0.05328547843523429], 'relative_effect': -0.13822681281166474, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5955746271077336, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 13.11199400516556, 'effort': 0.5955746271077336, 'height': 0.6294704694945099, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0032222222222222222, 'bad_contact': 0.060888888888888895, 'planar_speed': 13.113495948812988, 'saturation': 0.05892592592592592, 'reward': 12.754649228899904, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.0032222222222222222, 'bad_contact': 0.060888888888888895, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:13,086Z INFO episode phase=validation condition=effort_random0__+0.2000 seed=110000 metrics={'x_velocity': 12.77953728069552, 'y_velocity': 0.0, 'planar_speed': 12.77953728069552, 'height': 0.6597148789026588, 'yaw_rate': 0.0, 'effort': 0.5946317117050705, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.422758254236859, 'saturation': 0.10740740740740741, 'length': 1000.0, 'failure': 0.0, 'distance': 575.0791776312984, 'return': 11915.099471152054, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:13,108Z INFO episode phase=validation condition=effort_random0__+0.2000 seed=110002 metrics={'x_velocity': 4.6668916192998235, 'y_velocity': 0.0, 'planar_speed': 4.676564223774089, 'height': 0.5804986064303207, 'yaw_rate': 0.0, 'effort': 0.2243792767284645, 'inversion': 0.012222222222222223, 'bad_contact': 0.6133333333333333, 'reward': 4.532264053467221, 'saturation': 0.035740740740740747, 'length': 1000.0, 'failure': 0.0, 'distance': 210.01012286849206, 'return': 4843.255899744298, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:13,128Z INFO episode phase=validation condition=effort_random0__+0.2000 seed=110001 metrics={'x_velocity': 13.14568364651041, 'y_velocity': 0.0, 'planar_speed': 13.14568364651041, 'height': 0.6386960662837584, 'yaw_rate': 0.0, 'effort': 0.5904134143226677, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.791435597906876, 'saturation': 0.1137037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 591.5557640929685, 'return': 12195.154787247033, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:13,146Z INFO episode phase=validation condition=effort_random0__+0.2000 seed=110003 metrics={'x_velocity': 12.671852316137882, 'y_velocity': 0.0, 'planar_speed': 12.671852316137882, 'height': 0.6571472162980097, 'yaw_rate': 0.0, 'effort': 0.6012057594334086, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 12.311128860222034, 'saturation': 0.11740740740740739, 'length': 1000.0, 'failure': 0.0, 'distance': 570.2333542262047, 'return': 11914.787903274839, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:14,001Z INFO episode phase=validation condition=effort_random0__+0.2000 seed=110004 metrics={'x_velocity': 9.504037127681691, 'y_velocity': 0.0, 'planar_speed': 9.523081424314967, 'height': 0.6196158127034442, 'yaw_rate': 0.0, 'effort': 0.43936840349911815, 'inversion': 0.03888888888888889, 'bad_contact': 0.23555555555555555, 'reward': 9.240416085914392, 'saturation': 0.07870370370370369, 'length': 1000.0, 'failure': 0.0, 'distance': 427.6816707456761, 'return': 9101.542407758965, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:14,016Z INFO episode phase=validation condition=effort_random0__+0.2000 seed=110005 metrics={'x_velocity': 13.352411661088587, 'y_velocity': 0.0, 'planar_speed': 13.352411661088587, 'height': 0.6370905457243561, 'yaw_rate': 0.0, 'effort': 0.5865897836618953, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.000457790252353, 'saturation': 0.10166666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 600.8585247489864, 'return': 12442.229872528824, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:14,033Z INFO episode phase=validation condition=effort_random0__+0.2000 seed=110007 metrics={'x_velocity': 1.7543908855949844, 'y_velocity': 0.0, 'planar_speed': 1.7551773481292154, 'height': 0.5736522478945595, 'yaw_rate': 0.0, 'effort': 0.08970384075306356, 'inversion': 0.028888888888888888, 'bad_contact': 0.8355555555555556, 'reward': 1.7005685811036164, 'saturation': 0.008518518518518517, 'length': 1000.0, 'failure': 0.0, 'distance': 78.9475898517743, 'return': 2377.274716409851, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:14,055Z INFO episode phase=validation condition=effort_random0__+0.2000 seed=110006 metrics={'x_velocity': 11.98441204135239, 'y_velocity': 0.0, 'planar_speed': 11.98441204135239, 'height': 0.659057749167725, 'yaw_rate': 0.0, 'effort': 0.5926880689710379, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.628799200322428, 'saturation': 0.11888888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 539.2985418608577, 'return': 11224.858102522358, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:14,895Z INFO episode phase=validation condition=effort_random0__+0.2000 seed=110008 metrics={'x_velocity': 2.2337554156636745, 'y_velocity': 0.0, 'planar_speed': 2.2440971269586143, 'height': 0.5508010426741428, 'yaw_rate': 0.0, 'effort': 0.11638277443436285, 'inversion': 0.011111111111111112, 'bad_contact': 0.7988888888888889, 'reward': 2.163925751053348, 'saturation': 0.018333333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 100.51899370486535, 'return': 2738.491003516253, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:14,910Z INFO episode phase=validation condition=effort_random0__+0.2000 seed=110009 metrics={'x_velocity': 4.015901969228253, 'y_velocity': 0.0, 'planar_speed': 4.121494390588327, 'height': 0.3110337466606826, 'yaw_rate': 0.0, 'effort': 0.33994324749128685, 'inversion': 0.7722222222222223, 'bad_contact': 0.3933333333333333, 'reward': 3.811936020913123, 'saturation': 0.029074074074074075, 'length': 1000.0, 'failure': 0.0, 'distance': 180.71558861527137, 'return': 4212.4900645577145, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:14,924Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': 0.2, 'effect': {'behavior': 'effort', 'effect': -0.2735730589975913, 'ci95': [-0.39931550607238386, -0.16000260395033336], 'relative_effect': -0.3958495144867386, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.4175306281000376, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.610887396325321, 'effort': 0.4175306281000376, 'height': 0.5887307912739659, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.08633333333333335, 'bad_contact': 0.28788888888888886, 'planar_speed': 8.625431145955002, 'saturation': 0.07294444444444444, 'reward': 8.360369019539224, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.08633333333333335, 'bad_contact': 0.28788888888888886, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:15,871Z INFO episode phase=validation condition=effort_random0__+0.5000 seed=110002 metrics={'x_velocity': 1.0238193976167882, 'y_velocity': 0.0, 'planar_speed': 1.172205172477921, 'height': 0.20419640744205317, 'yaw_rate': 0.0, 'effort': 0.26079432813243736, 'inversion': 0.9677777777777777, 'bad_contact': 0.6122222222222222, 'reward': 0.8673428008225932, 'saturation': 0.015185185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 46.07187289275547, 'return': 1544.8267723641334, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:15,892Z INFO episode phase=validation condition=effort_random0__+0.5000 seed=110000 metrics={'x_velocity': 5.600110080084606, 'y_velocity': 0.0, 'planar_speed': 5.602765652022954, 'height': 0.6989629134348736, 'yaw_rate': 0.0, 'effort': 0.608770549264219, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 5.234847750340638, 'saturation': 0.20277777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 252.00495360380728, 'return': 5445.980017645458, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:15,912Z INFO episode phase=validation condition=effort_random0__+0.5000 seed=110003 metrics={'x_velocity': 0.7021372986443629, 'y_velocity': 0.0, 'planar_speed': 0.7078352954203718, 'height': 0.48110155999984106, 'yaw_rate': 0.0, 'effort': 0.06670427077139417, 'inversion': 0.017777777777777778, 'bad_contact': 0.9044444444444445, 'reward': 0.6621147361306141, 'saturation': 0.010370370370370368, 'length': 1000.0, 'failure': 0.0, 'distance': 31.596178438996333, 'return': 1430.6751915925627, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:15,931Z INFO episode phase=validation condition=effort_random0__+0.5000 seed=110001 metrics={'x_velocity': 3.3129621359866257, 'y_velocity': 0.0, 'planar_speed': 3.4084521820378813, 'height': 0.4451032323592703, 'yaw_rate': 0.0, 'effort': 0.41731761946860285, 'inversion': 0.5177777777777778, 'bad_contact': 0.3522222222222222, 'reward': 3.0625715640778077, 'saturation': 0.10833333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 149.08329611939817, 'return': 3439.1771568008735, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:16,768Z INFO episode phase=validation condition=effort_random0__+0.5000 seed=110004 metrics={'x_velocity': 3.964284019812055, 'y_velocity': 0.0, 'planar_speed': 4.0271422177981, 'height': 0.5361439249862241, 'yaw_rate': 0.0, 'effort': 0.4917749143847161, 'inversion': 0.33444444444444443, 'bad_contact': 0.21333333333333335, 'reward': 3.6692190710082055, 'saturation': 0.14333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 178.3927808915425, 'return': 4087.465094343398, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:16,793Z INFO episode phase=validation condition=effort_random0__+0.5000 seed=110006 metrics={'x_velocity': 0.80050856721536, 'y_velocity': 0.0, 'planar_speed': 0.805980233175613, 'height': 0.4865440147541767, 'yaw_rate': 0.0, 'effort': 0.07188371813338663, 'inversion': 0.027777777777777776, 'bad_contact': 0.8977777777777778, 'reward': 0.7573783363912073, 'saturation': 0.012037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 36.022885524691205, 'return': 1440.579324984259, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:16,813Z INFO episode phase=validation condition=effort_random0__+0.5000 seed=110007 metrics={'x_velocity': 5.2266082999959975, 'y_velocity': 0.0, 'planar_speed': 5.232954530381561, 'height': 0.704337946981476, 'yaw_rate': 0.0, 'effort': 0.6076129575322071, 'inversion': 0.0, 'bad_contact': 0.0044444444444444444, 'reward': 4.8620405255859485, 'saturation': 0.21370370370370367, 'length': 1000.0, 'failure': 0.0, 'distance': 235.1973734998199, 'return': 5222.599466443949, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:16,830Z INFO episode phase=validation condition=effort_random0__+0.5000 seed=110005 metrics={'x_velocity': 4.809291889736519, 'y_velocity': 0.0, 'planar_speed': 4.8488479900052015, 'height': 0.6486518279709901, 'yaw_rate': 0.0, 'effort': 0.5807812099572685, 'inversion': 0.1111111111111111, 'bad_contact': 0.07444444444444444, 'reward': 4.460823163469102, 'saturation': 0.19074074074074077, 'length': 1000.0, 'failure': 0.0, 'distance': 216.4181350381434, 'return': 4756.558708423896, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:17,655Z INFO episode phase=validation condition=effort_random0__+0.5000 seed=110008 metrics={'x_velocity': 4.1036907479499565, 'y_velocity': 0.0, 'planar_speed': 4.157082953841266, 'height': 0.5393173848035592, 'yaw_rate': 0.0, 'effort': 0.48448474215136633, 'inversion': 0.3322222222222222, 'bad_contact': 0.24666666666666667, 'reward': 3.8129999026458914, 'saturation': 0.14129629629629628, 'length': 1000.0, 'failure': 0.0, 'distance': 184.66608365774806, 'return': 4222.657739949541, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:17,693Z INFO episode phase=validation condition=effort_random0__+0.5000 seed=110009 metrics={'x_velocity': 4.129834016563458, 'y_velocity': 0.0, 'planar_speed': 4.210546604144876, 'height': 0.6724311480721975, 'yaw_rate': 0.0, 'effort': 0.6131068667314119, 'inversion': 0.0, 'bad_contact': 0.006666666666666667, 'reward': 3.7619698963366903, 'saturation': 0.1935185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 185.8425307453556, 'return': 4167.520552438925, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:17,706Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': 0.5, 'effect': {'behavior': 'effort', 'effect': -0.2707805694449279, 'ci95': [-0.3975575767620104, -0.15038841718338025], 'relative_effect': -0.39180889134321173, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.420323117652701, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 3.367324645360573, 'effort': 0.420323117652701, 'height': 0.5416790360804662, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.23088888888888892, 'bad_contact': 0.3313333333333333, 'planar_speed': 3.4173812831305748, 'saturation': 0.12312962962962962, 'reward': 3.1151307746808703, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.23088888888888892, 'bad_contact': 0.3313333333333333, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:18,600Z INFO episode phase=validation condition=effort_random1__-0.5000 seed=110002 metrics={'x_velocity': 1.983775493472277, 'y_velocity': 0.0, 'planar_speed': 1.9856047930042728, 'height': 0.5793955106628365, 'yaw_rate': 0.0, 'effort': 0.7786766007377042, 'inversion': 0.0, 'bad_contact': 0.6155555555555555, 'reward': 1.51656953321178, 'saturation': 0.1687037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 89.26989720625248, 'return': 2129.130831514401, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:18,620Z INFO episode phase=validation condition=effort_random1__-0.5000 seed=110001 metrics={'x_velocity': 1.9873388802111835, 'y_velocity': 0.0, 'planar_speed': 2.1102300776249456, 'height': 0.3697310210335277, 'yaw_rate': 0.0, 'effort': 0.45295372697214287, 'inversion': 0.5566666666666666, 'bad_contact': 0.2966666666666667, 'reward': 1.7155666438441168, 'saturation': 0.07777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 89.43024960950326, 'return': 2226.872728590551, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:18,635Z INFO episode phase=validation condition=effort_random1__-0.5000 seed=110000 metrics={'x_velocity': 2.2706320839352414, 'y_velocity': 0.0, 'planar_speed': 2.3747506488496435, 'height': 0.29068649794501594, 'yaw_rate': 0.0, 'effort': 0.3809446315964063, 'inversion': 0.7366666666666667, 'bad_contact': 0.3933333333333333, 'reward': 2.0420653048416315, 'saturation': 0.04462962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 102.17844377708587, 'return': 2572.475816696352, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:18,649Z INFO episode phase=validation condition=effort_random1__-0.5000 seed=110003 metrics={'x_velocity': 1.682889586400165, 'y_velocity': 0.0, 'planar_speed': 1.8111844319608619, 'height': 0.2368289772876335, 'yaw_rate': 0.0, 'effort': 0.34475603285763, 'inversion': 0.8722222222222222, 'bad_contact': 0.46444444444444444, 'reward': 1.4760359668875807, 'saturation': 0.02462962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 75.73003138800742, 'return': 2163.2042992738325, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:19,529Z INFO episode phase=validation condition=effort_random1__-0.5000 seed=110006 metrics={'x_velocity': 0.9011637743274187, 'y_velocity': 0.0, 'planar_speed': 0.9212492346955525, 'height': 0.5662041124683943, 'yaw_rate': 0.0, 'effort': 0.8303852878676521, 'inversion': 0.0, 'bad_contact': 0.8077777777777778, 'reward': 0.40293260184524604, 'saturation': 0.1674074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 40.552369844733846, 'return': 1121.578163892894, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:19,545Z INFO episode phase=validation condition=effort_random1__-0.5000 seed=110004 metrics={'x_velocity': 1.585915394177146, 'y_velocity': 0.0, 'planar_speed': 1.86741428399954, 'height': 0.6273889173633442, 'yaw_rate': 0.0, 'effort': 0.6245128497481346, 'inversion': 0.0022222222222222222, 'bad_contact': 0.042222222222222223, 'reward': 1.2112076842620376, 'saturation': 0.15537037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 71.36619273797157, 'return': 1875.2548462718455, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:19,561Z INFO episode phase=validation condition=effort_random1__-0.5000 seed=110007 metrics={'x_velocity': 2.990518180876124, 'y_velocity': 0.0, 'planar_speed': 3.1282818446119443, 'height': 0.4448619394554976, 'yaw_rate': 0.0, 'effort': 0.5026403927637471, 'inversion': 0.3844444444444444, 'bad_contact': 0.20666666666666667, 'reward': 2.6889339452112533, 'saturation': 0.1037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 134.5733181394256, 'return': 3266.8035441067236, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:19,577Z INFO episode phase=validation condition=effort_random1__-0.5000 seed=110005 metrics={'x_velocity': 1.4770318134390936, 'y_velocity': 0.0, 'planar_speed': 1.605507818311717, 'height': 0.21616411959653584, 'yaw_rate': 0.0, 'effort': 0.3396988148325019, 'inversion': 0.9055555555555556, 'bad_contact': 0.44333333333333336, 'reward': 1.2732125243243533, 'saturation': 0.02148148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 66.46643160475922, 'return': 1887.7091331936226, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:20,410Z INFO episode phase=validation condition=effort_random1__-0.5000 seed=110008 metrics={'x_velocity': 0.7261181197770015, 'y_velocity': 0.0, 'planar_speed': 0.7317607319751124, 'height': 0.46949094695189286, 'yaw_rate': 0.0, 'effort': 0.06324726567500168, 'inversion': 0.01, 'bad_contact': 0.9088888888888889, 'reward': 0.6881697603281249, 'saturation': 0.0077777777777777776, 'length': 1000.0, 'failure': 0.0, 'distance': 32.67531538996507, 'return': 1410.3106118635512, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:20,431Z INFO episode phase=validation condition=effort_random1__-0.5000 seed=110009 metrics={'x_velocity': 1.7100019178701147, 'y_velocity': 0.0, 'planar_speed': 1.8323801411646035, 'height': 0.23628400203164468, 'yaw_rate': 0.0, 'effort': 0.35167047200931445, 'inversion': 0.8633333333333333, 'bad_contact': 0.43555555555555553, 'reward': 1.4989996347539334, 'saturation': 0.029629629629629627, 'length': 1000.0, 'failure': 0.0, 'distance': 76.95008630415516, 'return': 2130.847317014444, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:20,444Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': -0.5, 'effect': {'behavior': 'effort', 'effect': -0.2241550795916054, 'ci95': [-0.3520212729427343, -0.08940346644351053], 'relative_effect': -0.32434363146429007, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.4669486075060235, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 1.7315385244485768, 'effort': 0.4669486075060235, 'height': 0.4037036044796324, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.4331111111111111, 'bad_contact': 0.4614444444444444, 'planar_speed': 1.8368364006198192, 'saturation': 0.0801111111111111, 'reward': 1.4513693599510056, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.4331111111111111, 'bad_contact': 0.4614444444444444, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:21,332Z INFO episode phase=validation condition=effort_random1__-0.2000 seed=110001 metrics={'x_velocity': 10.325622917935767, 'y_velocity': 0.0, 'planar_speed': 10.325622917935767, 'height': 0.6188140848296135, 'yaw_rate': 0.0, 'effort': 0.6509323610406783, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.935063501244306, 'saturation': 0.08574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 464.6530313071096, 'return': 9624.419900250723, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:21,348Z INFO episode phase=validation condition=effort_random1__-0.2000 seed=110003 metrics={'x_velocity': 8.547807408528168, 'y_velocity': 0.0, 'planar_speed': 8.554652355186011, 'height': 0.6191197486538462, 'yaw_rate': 0.0, 'effort': 0.5785719902709955, 'inversion': 0.008888888888888889, 'bad_contact': 0.09333333333333334, 'reward': 8.200664213952063, 'saturation': 0.0837037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 384.65133338376756, 'return': 8215.369721631867, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:21,364Z INFO episode phase=validation condition=effort_random1__-0.2000 seed=110000 metrics={'x_velocity': 1.9602674025484819, 'y_velocity': 0.0, 'planar_speed': 2.0541404140870356, 'height': 0.2270455117026815, 'yaw_rate': 0.0, 'effort': 0.3101679909270671, 'inversion': 0.9166666666666666, 'bad_contact': 0.44333333333333336, 'reward': 1.7741666081818175, 'saturation': 0.012407407407407405, 'length': 1000.0, 'failure': 0.0, 'distance': 88.21203311468169, 'return': 2331.3669897025193, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:21,379Z INFO episode phase=validation condition=effort_random1__-0.2000 seed=110002 metrics={'x_velocity': 10.396358334495433, 'y_velocity': 0.0, 'planar_speed': 10.396358334495433, 'height': 0.6236681466024266, 'yaw_rate': 0.0, 'effort': 0.6548796973625819, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.003430516223583, 'saturation': 0.08055555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 467.8361250522945, 'return': 9767.305716225024, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:22,256Z INFO episode phase=validation condition=effort_random1__-0.2000 seed=110005 metrics={'x_velocity': 10.151320300545644, 'y_velocity': 0.0, 'planar_speed': 10.151320300545644, 'height': 0.6212156468168445, 'yaw_rate': 0.0, 'effort': 0.6457067769765854, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.763896234008689, 'saturation': 0.08537037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 456.809413524554, 'return': 9529.324471909522, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:22,273Z INFO episode phase=validation condition=effort_random1__-0.2000 seed=110004 metrics={'x_velocity': 10.232237255109064, 'y_velocity': 0.0, 'planar_speed': 10.232237255109064, 'height': 0.6248971849616277, 'yaw_rate': 0.0, 'effort': 0.657666278415256, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.83763748795395, 'saturation': 0.08388888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 460.45067647990794, 'return': 9639.041669594564, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:22,290Z INFO episode phase=validation condition=effort_random1__-0.2000 seed=110006 metrics={'x_velocity': 10.367195569436486, 'y_velocity': 0.0, 'planar_speed': 10.367195569436486, 'height': 0.6224404871503596, 'yaw_rate': 0.0, 'effort': 0.6648348021341695, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.968294688460631, 'saturation': 0.09, 'length': 1000.0, 'failure': 0.0, 'distance': 466.5238006246419, 'return': 9730.40404184674, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:22,306Z INFO episode phase=validation condition=effort_random1__-0.2000 seed=110007 metrics={'x_velocity': 10.152298197150447, 'y_velocity': 0.0, 'planar_speed': 10.152298197150447, 'height': 0.6223019167656008, 'yaw_rate': 0.0, 'effort': 0.656083704729875, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.758647974802605, 'saturation': 0.08925925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 456.85341887177015, 'return': 9629.546170738939, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:23,175Z INFO episode phase=validation condition=effort_random1__-0.2000 seed=110008 metrics={'x_velocity': 10.40605993671361, 'y_velocity': 0.0, 'planar_speed': 10.40605993671361, 'height': 0.6293217735664687, 'yaw_rate': 0.0, 'effort': 0.6586819767372476, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.010850750484169, 'saturation': 0.08444444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 468.2726971521125, 'return': 9800.723503003992, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:23,193Z INFO episode phase=validation condition=effort_random1__-0.2000 seed=110009 metrics={'x_velocity': 10.21092845744837, 'y_velocity': 0.0, 'planar_speed': 10.21092845744837, 'height': 0.6185450759733068, 'yaw_rate': 0.0, 'effort': 0.6519579052428405, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.819753714604, 'saturation': 0.08277777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 459.4917805851767, 'return': 9619.525988879504, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:23,203Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': -0.2, 'effect': {'behavior': 'effort', 'effect': -0.07815533871389926, 'ci95': [-0.14808957751790683, -0.034796110832432496], 'relative_effect': -0.11308771776652181, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6129483483837296, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 9.275009577991147, 'effort': 0.6129483483837296, 'height': 0.5827369577022776, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09255555555555554, 'bad_contact': 0.053666666666666675, 'planar_speed': 9.285081373810787, 'saturation': 0.07781481481481482, 'reward': 8.90724056899158, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09255555555555554, 'bad_contact': 0.053666666666666675, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:24,144Z INFO episode phase=validation condition=effort_random1__-0.1000 seed=110000 metrics={'x_velocity': 12.871699938486936, 'y_velocity': 0.0, 'planar_speed': 12.871699938486936, 'height': 0.6314818538980645, 'yaw_rate': 0.0, 'effort': 0.6446474043031534, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.484911495716297, 'saturation': 0.04592592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 579.226497231912, 'return': 11971.037388483548, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:24,160Z INFO episode phase=validation condition=effort_random1__-0.1000 seed=110003 metrics={'x_velocity': 12.62790203777378, 'y_velocity': 0.0, 'planar_speed': 12.62790203777378, 'height': 0.6250463517149781, 'yaw_rate': 0.0, 'effort': 0.6412431745065583, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.243156133023485, 'saturation': 0.04351851851851852, 'length': 1000.0, 'failure': 0.0, 'distance': 568.2555916998201, 'return': 11853.612448796148, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:24,175Z INFO episode phase=validation condition=effort_random1__-0.1000 seed=110001 metrics={'x_velocity': 12.299046659946779, 'y_velocity': 0.0, 'planar_speed': 12.299046659946779, 'height': 0.6261087402078487, 'yaw_rate': 0.0, 'effort': 0.6435194698183073, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.912934978309943, 'saturation': 0.04722222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 553.457099697605, 'return': 11404.504229609796, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:24,191Z INFO episode phase=validation condition=effort_random1__-0.1000 seed=110002 metrics={'x_velocity': 13.032186896505781, 'y_velocity': 0.0, 'planar_speed': 13.032186896505781, 'height': 0.6187575619816875, 'yaw_rate': 0.0, 'effort': 0.645812940299511, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.644699132160504, 'saturation': 0.038518518518518514, 'length': 1000.0, 'failure': 0.0, 'distance': 586.4484103427602, 'return': 12144.447470568255, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:25,069Z INFO episode phase=validation condition=effort_random1__-0.1000 seed=110004 metrics={'x_velocity': 12.565279247440216, 'y_velocity': 0.0, 'planar_speed': 12.565279247440216, 'height': 0.6187475429519365, 'yaw_rate': 0.0, 'effort': 0.6528715173900127, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.173556336923426, 'saturation': 0.05092592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 565.4375661348098, 'return': 11741.368633667094, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:25,092Z INFO episode phase=validation condition=effort_random1__-0.1000 seed=110005 metrics={'x_velocity': 12.292296313935589, 'y_velocity': 0.0, 'planar_speed': 12.292296313935589, 'height': 0.6409923699356491, 'yaw_rate': 0.0, 'effort': 0.643541459987561, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.906171437979479, 'saturation': 0.04907407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 553.1533341271015, 'return': 11457.372155483235, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:25,109Z INFO episode phase=validation condition=effort_random1__-0.1000 seed=110006 metrics={'x_velocity': 12.765437755700074, 'y_velocity': 0.0, 'planar_speed': 12.765437755700074, 'height': 0.6239092001720501, 'yaw_rate': 0.0, 'effort': 0.6401289695004622, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.381360374162051, 'saturation': 0.04111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 574.4446990065034, 'return': 11902.16315897802, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:25,124Z INFO episode phase=validation condition=effort_random1__-0.1000 seed=110007 metrics={'x_velocity': 13.020648134262165, 'y_velocity': 0.0, 'planar_speed': 13.020648134262165, 'height': 0.622730545148876, 'yaw_rate': 0.0, 'effort': 0.6453690590295527, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.633426698390776, 'saturation': 0.04462962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 585.9291660417974, 'return': 12216.847021968295, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:25,992Z INFO episode phase=validation condition=effort_random1__-0.1000 seed=110008 metrics={'x_velocity': 12.91983365708205, 'y_velocity': 0.0, 'planar_speed': 12.91983365708205, 'height': 0.629186291315675, 'yaw_rate': 0.0, 'effort': 0.6459902333054277, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.532239517413371, 'saturation': 0.04611111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 581.3925145686923, 'return': 12069.973393240274, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:26,053Z INFO episode phase=validation condition=effort_random1__-0.1000 seed=110009 metrics={'x_velocity': 13.024301231143587, 'y_velocity': 0.0, 'planar_speed': 13.024301231143587, 'height': 0.6256141044012989, 'yaw_rate': 0.0, 'effort': 0.6395034397145113, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.640599166973809, 'saturation': 0.04296296296296297, 'length': 1000.0, 'failure': 0.0, 'distance': 586.0935554014615, 'return': 12158.28689601233, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:26,065Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': -0.1, 'effect': {'behavior': 'effort', 'effect': -0.04684092031212318, 'ci95': [-0.04929960768191764, -0.044062471118269324], 'relative_effect': -0.06777697932539924, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6442627667855059, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.741863187227695, 'effort': 0.6442627667855059, 'height': 0.6262574561728065, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 12.741863187227695, 'saturation': 0.045, 'reward': 12.355305527105315, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:26,985Z INFO episode phase=validation condition=effort_random1__-0.0500 seed=110001 metrics={'x_velocity': 14.642703584227732, 'y_velocity': 0.0, 'planar_speed': 14.642703584227732, 'height': 0.6239777123697346, 'yaw_rate': 0.0, 'effort': 0.6242820546362136, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.26813435177714, 'saturation': 0.026111111111111113, 'length': 1000.0, 'failure': 0.0, 'distance': 658.9216612902479, 'return': 13524.183665730272, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:27,001Z INFO episode phase=validation condition=effort_random1__-0.0500 seed=110003 metrics={'x_velocity': 14.305357276210247, 'y_velocity': 0.0, 'planar_speed': 14.305357276210247, 'height': 0.6301221978040805, 'yaw_rate': 0.0, 'effort': 0.6232040152284835, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.931434866927455, 'saturation': 0.02555555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 643.7410774294611, 'return': 13373.06330930972, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:27,019Z INFO episode phase=validation condition=effort_random1__-0.0500 seed=110002 metrics={'x_velocity': 14.806572268010019, 'y_velocity': 0.0, 'planar_speed': 14.806572268010019, 'height': 0.6236033107226565, 'yaw_rate': 0.0, 'effort': 0.618780313183864, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.435304080354674, 'saturation': 0.022037037037037036, 'length': 1000.0, 'failure': 0.0, 'distance': 666.2957520604509, 'return': 13755.99192394301, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:27,034Z INFO episode phase=validation condition=effort_random1__-0.0500 seed=110000 metrics={'x_velocity': 14.888422101670015, 'y_velocity': 0.0, 'planar_speed': 14.888422101670015, 'height': 0.6226259436643503, 'yaw_rate': 0.0, 'effort': 0.6148203789028857, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.519529874497165, 'saturation': 0.01611111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 669.9789945751508, 'return': 13802.193929386332, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:27,891Z INFO episode phase=validation condition=effort_random1__-0.0500 seed=110004 metrics={'x_velocity': 14.24429417903438, 'y_velocity': 0.0, 'planar_speed': 14.24429417903438, 'height': 0.6299301303922087, 'yaw_rate': 0.0, 'effort': 0.629324699540933, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.866699358799872, 'saturation': 0.03777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 640.9932380565472, 'return': 13265.197353355896, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:27,908Z INFO episode phase=validation condition=effort_random1__-0.0500 seed=110005 metrics={'x_velocity': 14.659921795824685, 'y_velocity': 0.0, 'planar_speed': 14.659921795824685, 'height': 0.6269608229158578, 'yaw_rate': 0.0, 'effort': 0.6225058252943887, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.286418300687787, 'saturation': 0.028148148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 659.6964808121108, 'return': 13599.594331920713, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:27,923Z INFO episode phase=validation condition=effort_random1__-0.0500 seed=110006 metrics={'x_velocity': 14.837740572568093, 'y_velocity': 0.0, 'planar_speed': 14.837740572568093, 'height': 0.6232212401438879, 'yaw_rate': 0.0, 'effort': 0.6159763043622176, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.468154790106396, 'saturation': 0.02148148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 667.6983257655643, 'return': 13780.278133327929, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:27,943Z INFO episode phase=validation condition=effort_random1__-0.0500 seed=110007 metrics={'x_velocity': 14.211489898806674, 'y_velocity': 0.0, 'planar_speed': 14.211489898806674, 'height': 0.635929918740608, 'yaw_rate': 0.0, 'effort': 0.6242574474049939, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.836935430267648, 'saturation': 0.027407407407407405, 'length': 1000.0, 'failure': 0.0, 'distance': 639.5170454463004, 'return': 13300.00488065748, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:28,795Z INFO episode phase=validation condition=effort_random1__-0.0500 seed=110008 metrics={'x_velocity': 14.930572619009673, 'y_velocity': 0.0, 'planar_speed': 14.930572619009673, 'height': 0.6250260513260097, 'yaw_rate': 0.0, 'effort': 0.6156799316902956, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.56116466010477, 'saturation': 0.0187037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 671.8757678554354, 'return': 13896.006021662533, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:28,810Z INFO episode phase=validation condition=effort_random1__-0.0500 seed=110009 metrics={'x_velocity': 14.391709452836283, 'y_velocity': 0.0, 'planar_speed': 14.391709452836283, 'height': 0.6342719132608797, 'yaw_rate': 0.0, 'effort': 0.624057192073928, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.017275137605171, 'saturation': 0.024444444444444446, 'length': 1000.0, 'failure': 0.0, 'distance': 647.6269253776327, 'return': 13397.295269580558, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:28,823Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': -0.05, 'effect': {'behavior': 'effort', 'effect': -0.06981487086580859, 'ci95': [-0.07203213954745895, -0.06714800114076998], 'relative_effect': -0.10101938706043422, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6212888162318203, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 14.59187837481978, 'effort': 0.6212888162318203, 'height': 0.6275669241340274, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 14.59187837481978, 'saturation': 0.024777777777777777, 'reward': 14.219105085112806, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:29,757Z INFO episode phase=validation condition=effort_random1__+0.0500 seed=110003 metrics={'x_velocity': 13.716972111973531, 'y_velocity': 0.0, 'planar_speed': 13.716972111973531, 'height': 0.6350806624162528, 'yaw_rate': 0.0, 'effort': 0.6505516234702534, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.326641138560277, 'saturation': 0.05333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 617.2637450388089, 'return': 12828.748953779257, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:29,774Z INFO episode phase=validation condition=effort_random1__+0.0500 seed=110002 metrics={'x_velocity': 13.870888139792381, 'y_velocity': 0.0, 'planar_speed': 13.870888139792381, 'height': 0.6341115270240086, 'yaw_rate': 0.0, 'effort': 0.666322542577982, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.471094614003858, 'saturation': 0.059444444444444446, 'length': 1000.0, 'failure': 0.0, 'distance': 624.1899662906571, 'return': 12888.203404227272, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:29,789Z INFO episode phase=validation condition=effort_random1__+0.0500 seed=110000 metrics={'x_velocity': 14.35068147692548, 'y_velocity': 0.0, 'planar_speed': 14.35068147692548, 'height': 0.6282841700683933, 'yaw_rate': 0.0, 'effort': 0.6629455390572548, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.952914153405032, 'saturation': 0.05648148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 645.7806664616467, 'return': 13292.239780403412, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:29,805Z INFO episode phase=validation condition=effort_random1__+0.0500 seed=110001 metrics={'x_velocity': 14.07663888928, 'y_velocity': 0.0, 'planar_speed': 14.07663888928, 'height': 0.6326800761169089, 'yaw_rate': 0.0, 'effort': 0.656203513228231, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.682916781525188, 'saturation': 0.052592592592592594, 'length': 1000.0, 'failure': 0.0, 'distance': 633.4487500176001, 'return': 12997.487852503516, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:30,682Z INFO episode phase=validation condition=effort_random1__+0.0500 seed=110005 metrics={'x_velocity': 13.642211168921527, 'y_velocity': 0.0, 'planar_speed': 13.642211168921527, 'height': 0.6403414384454731, 'yaw_rate': 0.0, 'effort': 0.6622103635138935, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.244884950634374, 'saturation': 0.058888888888888886, 'length': 1000.0, 'failure': 0.0, 'distance': 613.8995026014687, 'return': 12662.214316872643, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:30,696Z INFO episode phase=validation condition=effort_random1__+0.0500 seed=110004 metrics={'x_velocity': 13.882241337427525, 'y_velocity': 0.0, 'planar_speed': 13.882241337427525, 'height': 0.6386644635620734, 'yaw_rate': 0.0, 'effort': 0.6584044889609019, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.487198644541067, 'saturation': 0.054259259259259264, 'length': 1000.0, 'failure': 0.0, 'distance': 624.7008601842386, 'return': 12923.646710522971, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:30,713Z INFO episode phase=validation condition=effort_random1__+0.0500 seed=110007 metrics={'x_velocity': 4.631719229142674, 'y_velocity': 0.0, 'planar_speed': 4.637080438077076, 'height': 0.585923460489746, 'yaw_rate': 0.0, 'effort': 0.22328737343764968, 'inversion': 0.03333333333333333, 'bad_contact': 0.6455555555555555, 'reward': 4.4977468050477984, 'saturation': 0.02296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 208.42736531142032, 'return': 4894.7351179596135, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:30,726Z INFO episode phase=validation condition=effort_random1__+0.0500 seed=110006 metrics={'x_velocity': 14.187684744183112, 'y_velocity': 0.0, 'planar_speed': 14.187684744183112, 'height': 0.632334922598207, 'yaw_rate': 0.0, 'effort': 0.6585711166593764, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.792542074134504, 'saturation': 0.04648148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 638.4458134882401, 'return': 13172.226688953226, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:31,600Z INFO episode phase=validation condition=effort_random1__+0.0500 seed=110008 metrics={'x_velocity': 13.783748018145385, 'y_velocity': 0.0, 'planar_speed': 13.783748018145385, 'height': 0.6393298621855719, 'yaw_rate': 0.0, 'effort': 0.6617084714604748, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.386722935173069, 'saturation': 0.056666666666666664, 'length': 1000.0, 'failure': 0.0, 'distance': 620.2686608165424, 'return': 12839.008469224002, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:31,617Z INFO episode phase=validation condition=effort_random1__+0.0500 seed=110009 metrics={'x_velocity': 14.127184163229819, 'y_velocity': 0.0, 'planar_speed': 14.127184163229819, 'height': 0.6320572933129242, 'yaw_rate': 0.0, 'effort': 0.6682631098892954, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.72622629695848, 'saturation': 0.05074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 635.7232873453419, 'return': 13135.351312998537, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:31,630Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': 0.05, 'effect': {'behavior': 'effort', 'effect': -0.07425687287209763, 'ci95': [-0.16260128007282815, -0.028276187270631446], 'relative_effect': -0.10744679019721062, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6168468142255314, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 13.026996927902143, 'effort': 0.6168468142255314, 'height': 0.6298807876219559, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.003333333333333333, 'bad_contact': 0.06455555555555556, 'planar_speed': 13.027533048795584, 'saturation': 0.05118518518518518, 'reward': 12.656888839398363, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.003333333333333333, 'bad_contact': 0.06455555555555556, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:32,552Z INFO episode phase=validation condition=effort_random1__+0.1000 seed=110002 metrics={'x_velocity': 4.410390644845683, 'y_velocity': 0.0, 'planar_speed': 4.47216666304463, 'height': 0.3464085174540664, 'yaw_rate': 0.0, 'effort': 0.38316720934584736, 'inversion': 0.6966666666666667, 'bad_contact': 0.3188888888888889, 'reward': 4.1804903194323035, 'saturation': 0.03518518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 198.46757901805574, 'return': 4526.659539112872, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:32,567Z INFO episode phase=validation condition=effort_random1__+0.1000 seed=110003 metrics={'x_velocity': 12.950436671436911, 'y_velocity': 0.0, 'planar_speed': 12.950436671436911, 'height': 0.6471193014296921, 'yaw_rate': 0.0, 'effort': 0.6540836317837239, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.557986492720993, 'saturation': 0.08185185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 582.769650214661, 'return': 12136.959772523904, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:32,583Z INFO episode phase=validation condition=effort_random1__+0.1000 seed=110000 metrics={'x_velocity': 13.07981547726664, 'y_velocity': 0.0, 'planar_speed': 13.07981547726664, 'height': 0.6438912900928805, 'yaw_rate': 0.0, 'effort': 0.6660251693593131, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.680200375637808, 'saturation': 0.08648148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 588.5916964769989, 'return': 12146.79738041291, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:32,599Z INFO episode phase=validation condition=effort_random1__+0.1000 seed=110001 metrics={'x_velocity': 12.504758537430716, 'y_velocity': 0.0, 'planar_speed': 12.504758537430716, 'height': 0.6397405806713022, 'yaw_rate': 0.0, 'effort': 0.6536669460932414, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 12.112558370384065, 'saturation': 0.08537037037037036, 'length': 1000.0, 'failure': 0.0, 'distance': 562.7141341843823, 'return': 11584.165282476504, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:33,486Z INFO episode phase=validation condition=effort_random1__+0.1000 seed=110004 metrics={'x_velocity': 12.679123991910137, 'y_velocity': 0.0, 'planar_speed': 12.679123991910137, 'height': 0.6423337027139243, 'yaw_rate': 0.0, 'effort': 0.6552848269210921, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.285953095552177, 'saturation': 0.08814814814814816, 'length': 1000.0, 'failure': 0.0, 'distance': 570.5605796359562, 'return': 11842.52571643297, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:33,522Z INFO episode phase=validation condition=effort_random1__+0.1000 seed=110006 metrics={'x_velocity': 13.113202458295689, 'y_velocity': 0.0, 'planar_speed': 13.113202458295689, 'height': 0.6408369553042016, 'yaw_rate': 0.0, 'effort': 0.6569598822626803, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.719026529159942, 'saturation': 0.08555555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 590.094110623306, 'return': 12206.06269847612, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:33,535Z INFO episode phase=validation condition=effort_random1__+0.1000 seed=110007 metrics={'x_velocity': 12.62595982667171, 'y_velocity': 0.0, 'planar_speed': 12.62595982667171, 'height': 0.6423081675846297, 'yaw_rate': 0.0, 'effort': 0.6531013757818275, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.23409900155693, 'saturation': 0.07648148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 568.168192200227, 'return': 11857.452094817834, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:33,553Z INFO episode phase=validation condition=effort_random1__+0.1000 seed=110005 metrics={'x_velocity': 13.008528541832545, 'y_velocity': 0.0, 'planar_speed': 13.008528541832545, 'height': 0.6450138805626903, 'yaw_rate': 0.0, 'effort': 0.6584217312600877, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.613475502917549, 'saturation': 0.08148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 585.3837843824646, 'return': 12093.945813927496, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:34,375Z INFO episode phase=validation condition=effort_random1__+0.1000 seed=110008 metrics={'x_velocity': 12.999319849574329, 'y_velocity': 0.0, 'planar_speed': 12.999319849574329, 'height': 0.6420121497097047, 'yaw_rate': 0.0, 'effort': 0.6506369956003295, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.608937651426023, 'saturation': 0.07388888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 584.9693932308448, 'return': 12139.001713851661, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:34,439Z INFO episode phase=validation condition=effort_random1__+0.1000 seed=110009 metrics={'x_velocity': 12.839314169549192, 'y_velocity': 0.0, 'planar_speed': 12.839314169549192, 'height': 0.6444041236049884, 'yaw_rate': 0.0, 'effort': 0.6544705598056316, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.446631833337989, 'saturation': 0.07907407407407406, 'length': 1000.0, 'failure': 0.0, 'distance': 577.7691376297137, 'return': 11983.716295740094, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:34,453Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': 0.1, 'effect': {'behavior': 'effort', 'effect': -0.06252185427625148, 'ci95': [-0.11818522250114218, -0.032945730522813084], 'relative_effect': -0.09046667735028205, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6285818328213775, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.021085016881356, 'effort': 0.6285818328213775, 'height': 0.613406866912808, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.06966666666666667, 'bad_contact': 0.032, 'planar_speed': 12.027262618701252, 'saturation': 0.07735185185185185, 'reward': 11.643935917212577, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.06966666666666667, 'bad_contact': 0.032, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:35,400Z INFO episode phase=validation condition=effort_random1__+0.2000 seed=110001 metrics={'x_velocity': 10.232310572744927, 'y_velocity': 0.0, 'planar_speed': 10.232310572744927, 'height': 0.6617495697509232, 'yaw_rate': 0.0, 'effort': 0.6563686129781935, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.838489404587138, 'saturation': 0.13685185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 460.45397577352173, 'return': 9537.503213259268, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:35,416Z INFO episode phase=validation condition=effort_random1__+0.2000 seed=110002 metrics={'x_velocity': 10.3370403058874, 'y_velocity': 0.0, 'planar_speed': 10.3370403058874, 'height': 0.666949535214982, 'yaw_rate': 0.0, 'effort': 0.6688518427146806, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.935729200616223, 'saturation': 0.14962962962962964, 'length': 1000.0, 'failure': 0.0, 'distance': 465.16681376493307, 'return': 9706.374532178397, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:35,430Z INFO episode phase=validation condition=effort_random1__+0.2000 seed=110000 metrics={'x_velocity': 7.881780618487257, 'y_velocity': 0.0, 'planar_speed': 7.8847092255274545, 'height': 0.647329664069555, 'yaw_rate': 0.0, 'effort': 0.5045067871631019, 'inversion': 0.014444444444444444, 'bad_contact': 0.20444444444444446, 'reward': 7.579076545867779, 'saturation': 0.09685185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 354.6801278319266, 'return': 7555.785933619885, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:35,445Z INFO episode phase=validation condition=effort_random1__+0.2000 seed=110003 metrics={'x_velocity': 10.556410058040525, 'y_velocity': 0.0, 'planar_speed': 10.556410058040525, 'height': 0.665163550088091, 'yaw_rate': 0.0, 'effort': 0.6566407497723897, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 10.16242560793867, 'saturation': 0.13055555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 475.03845261182363, 'return': 9980.954976219815, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:36,355Z INFO episode phase=validation condition=effort_random1__+0.2000 seed=110004 metrics={'x_velocity': 10.765585756736321, 'y_velocity': 0.0, 'planar_speed': 10.765585756736321, 'height': 0.6624516696984389, 'yaw_rate': 0.0, 'effort': 0.6619556084771951, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.368412391964586, 'saturation': 0.1335185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 484.45135905313447, 'return': 10116.739083204138, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:36,372Z INFO episode phase=validation condition=effort_random1__+0.2000 seed=110007 metrics={'x_velocity': 10.365337097512723, 'y_velocity': 0.0, 'planar_speed': 10.365337097512723, 'height': 0.6642355706374489, 'yaw_rate': 0.0, 'effort': 0.6743751136627463, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 9.96071203000053, 'saturation': 0.14444444444444443, 'length': 1000.0, 'failure': 0.0, 'distance': 466.44016938807255, 'return': 9811.403820417072, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:36,392Z INFO episode phase=validation condition=effort_random1__+0.2000 seed=110005 metrics={'x_velocity': 1.0286377080930018, 'y_velocity': 0.0, 'planar_speed': 1.0372741354547004, 'height': 0.5964883486312961, 'yaw_rate': 0.0, 'effort': 0.08243938020533985, 'inversion': 0.04666666666666667, 'bad_contact': 0.0022222222222222222, 'reward': 0.9791740801386775, 'saturation': 0.009444444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 46.288696864185084, 'return': 1623.0745334265146, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:36,407Z INFO episode phase=validation condition=effort_random1__+0.2000 seed=110006 metrics={'x_velocity': 10.486439842447819, 'y_velocity': 0.0, 'planar_speed': 10.486439842447819, 'height': 0.6745748665048363, 'yaw_rate': 0.0, 'effort': 0.6623308430115382, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 10.089041336826332, 'saturation': 0.12444444444444443, 'length': 1000.0, 'failure': 0.0, 'distance': 471.88979291015187, 'return': 9839.07602537587, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:37,258Z INFO episode phase=validation condition=effort_random1__+0.2000 seed=110008 metrics={'x_velocity': 1.9226946168184733, 'y_velocity': 0.0, 'planar_speed': 1.9259875677481382, 'height': 0.5722089617732012, 'yaw_rate': 0.0, 'effort': 0.12998824537835188, 'inversion': 0.023333333333333334, 'bad_contact': 0.7977777777777778, 'reward': 1.8447016695148866, 'saturation': 0.02796296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 86.5212577568313, 'return': 2451.1893301316372, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:37,272Z INFO episode phase=validation condition=effort_random1__+0.2000 seed=110009 metrics={'x_velocity': 7.75391689634286, 'y_velocity': 0.0, 'planar_speed': 7.759335395167412, 'height': 0.6499839971091669, 'yaw_rate': 0.0, 'effort': 0.5178533816037493, 'inversion': 0.025555555555555557, 'bad_contact': 0.20555555555555555, 'reward': 7.4432048672525, 'saturation': 0.11055555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 348.9262603354287, 'return': 7480.632026263154, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:37,285Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': 0.2, 'effect': {'behavior': 'effort', 'effect': -0.1695726306009003, 'ci95': [-0.3129995099021717, -0.044727495155066986], 'relative_effect': -0.2453649629812286, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5215310564967287, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.133015347311131, 'effort': 0.5215310564967287, 'height': 0.646113573347794, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.011, 'bad_contact': 0.12133333333333333, 'planar_speed': 8.135042995726742, 'saturation': 0.10642592592592592, 'reward': 7.820096713470733, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.011, 'bad_contact': 0.12133333333333333, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:38,219Z INFO episode phase=validation condition=effort_random1__+0.5000 seed=110002 metrics={'x_velocity': 0.5313547879754612, 'y_velocity': 0.0, 'planar_speed': 0.531389260020226, 'height': 0.14906165627985393, 'yaw_rate': 0.0, 'effort': 0.9956872112883461, 'inversion': 0.9755555555555555, 'bad_contact': 0.9344444444444444, 'reward': -0.06605753878430114, 'saturation': 0.9896296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 23.910965458895756, 'return': 704.7664667179286, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:38,234Z INFO episode phase=validation condition=effort_random1__+0.5000 seed=110000 metrics={'x_velocity': 1.8770032757083905, 'y_velocity': 0.0, 'planar_speed': 2.0441307753646294, 'height': 0.6132357259392319, 'yaw_rate': 0.0, 'effort': 0.6983705462515354, 'inversion': 0.0, 'bad_contact': 0.014444444444444444, 'reward': 1.4579809483250314, 'saturation': 0.314074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 84.46514740687758, 'return': 2046.7998958314115, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:38,252Z INFO episode phase=validation condition=effort_random1__+0.5000 seed=110003 metrics={'x_velocity': 1.2190331761634807, 'y_velocity': 0.0, 'planar_speed': 1.2243828868358368, 'height': 0.3671683536680655, 'yaw_rate': 0.0, 'effort': 0.8796947107381291, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 0.6912163503762544, 'saturation': 0.5898148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 54.85649292735664, 'return': 1456.8666444136393, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:38,269Z INFO episode phase=validation condition=effort_random1__+0.5000 seed=110001 metrics={'x_velocity': 1.9917259569050179, 'y_velocity': 0.0, 'planar_speed': 2.0851148947059066, 'height': 0.6084242511843725, 'yaw_rate': 0.0, 'effort': 0.702101927002271, 'inversion': 0.0, 'bad_contact': 0.0077777777777777776, 'reward': 1.5704648006506732, 'saturation': 0.3146296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 89.62766806072581, 'return': 2096.2810697164523, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:39,141Z INFO episode phase=validation condition=effort_random1__+0.5000 seed=110005 metrics={'x_velocity': 2.3568629147935423, 'y_velocity': 0.0, 'planar_speed': 2.39995762024967, 'height': 0.5998052020978513, 'yaw_rate': 0.0, 'effort': 0.7108742279145452, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 1.9303383781441557, 'saturation': 0.332037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 106.0588311657094, 'return': 2479.1224016314445, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:39,158Z INFO episode phase=validation condition=effort_random1__+0.5000 seed=110004 metrics={'x_velocity': 2.1285934607952273, 'y_velocity': 0.0, 'planar_speed': 2.2869912556099594, 'height': 0.6065519026047052, 'yaw_rate': 0.0, 'effort': 0.6948471436732345, 'inversion': 0.0, 'bad_contact': 0.015555555555555555, 'reward': 1.711685174183988, 'saturation': 0.3022222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 95.78670573578523, 'return': 2325.684587201601, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:39,180Z INFO episode phase=validation condition=effort_random1__+0.5000 seed=110007 metrics={'x_velocity': 1.4609997068883196, 'y_velocity': 0.0, 'planar_speed': 1.4867059387051342, 'height': 0.4287944718677219, 'yaw_rate': 0.0, 'effort': 0.8290614676144388, 'inversion': 0.0, 'bad_contact': 0.0044444444444444444, 'reward': 0.9635628266839068, 'saturation': 0.5101851851851852, 'length': 1000.0, 'failure': 0.0, 'distance': 65.74498680997439, 'return': 1713.9695374321122, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:39,196Z INFO episode phase=validation condition=effort_random1__+0.5000 seed=110006 metrics={'x_velocity': 2.128935059400247, 'y_velocity': 0.0, 'planar_speed': 2.1939197818697616, 'height': 0.6050404790033921, 'yaw_rate': 0.0, 'effort': 0.7000573251768947, 'inversion': 0.0, 'bad_contact': 0.0077777777777777776, 'reward': 1.708900664632698, 'saturation': 0.32370370370370377, 'length': 1000.0, 'failure': 0.0, 'distance': 95.80207767301113, 'return': 2296.949420401601, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:40,109Z INFO episode phase=validation condition=effort_random1__+0.5000 seed=110008 metrics={'x_velocity': 1.8800419084310442, 'y_velocity': 0.0, 'planar_speed': 1.955896248321422, 'height': 0.5901302608626995, 'yaw_rate': 0.0, 'effort': 0.715547469307979, 'inversion': 0.0, 'bad_contact': 0.051111111111111114, 'reward': 1.4507134270879867, 'saturation': 0.34518518518518515, 'length': 1000.0, 'failure': 0.0, 'distance': 84.601885879397, 'return': 2096.5999119474272, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:40,123Z INFO episode phase=validation condition=effort_random1__+0.5000 seed=110009 metrics={'x_velocity': 1.0210472362791112, 'y_velocity': 0.0, 'planar_speed': 1.1645951252981148, 'height': 0.620466735405729, 'yaw_rate': 0.0, 'effort': 0.7891607725785839, 'inversion': 0.0, 'bad_contact': 0.5133333333333333, 'reward': 0.5475507730995232, 'saturation': 0.39870370370370367, 'length': 1000.0, 'failure': 0.0, 'distance': 45.94712563256001, 'return': 1274.5433415254747, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:40,133Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': 0.5, 'effect': {'behavior': 'effort', 'effect': 0.08043659305696685, 'ci95': [0.027823483610132472, 0.14291135626655688], 'relative_effect': 0.11638860356073308, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.7715402801545957, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 1.6595597483339843, 'effort': 0.7715402801545957, 'height': 0.5188679038913623, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09755555555555555, 'bad_contact': 0.15522222222222223, 'planar_speed': 1.737308378698066, 'saturation': 0.4420185185185185, 'reward': 1.1966355804399915, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09755555555555555, 'bad_contact': 0.15522222222222223, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:41,136Z INFO episode phase=validation condition=effort_random2__-0.5000 seed=110002 metrics={'x_velocity': 4.834766599257902, 'y_velocity': 0.0, 'planar_speed': 4.887278464418321, 'height': 0.6767566584129243, 'yaw_rate': 0.0, 'effort': 0.5979140252164669, 'inversion': 0.0, 'bad_contact': 0.008888888888888889, 'reward': 4.476018183724864, 'saturation': 0.14425925925925923, 'length': 1000.0, 'failure': 0.0, 'distance': 217.56449696660562, 'return': 4792.634616976176, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:41,150Z INFO episode phase=validation condition=effort_random2__-0.5000 seed=110001 metrics={'x_velocity': 7.8516858240343606, 'y_velocity': 0.0, 'planar_speed': 7.8516858240343606, 'height': 0.7034543082185423, 'yaw_rate': 0.0, 'effort': 0.5992244431542025, 'inversion': 0.005555555555555556, 'bad_contact': 0.0011111111111111111, 'reward': 7.492151158012695, 'saturation': 0.15444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 353.32586208154623, 'return': 7425.798791342271, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:41,165Z INFO episode phase=validation condition=effort_random2__-0.5000 seed=110000 metrics={'x_velocity': 1.1559590285618682, 'y_velocity': 0.0, 'planar_speed': 1.313116700927297, 'height': 0.21362324727203832, 'yaw_rate': 0.0, 'effort': 0.2031082310160208, 'inversion': 0.9588888888888889, 'bad_contact': 0.3988888888888889, 'reward': 1.0340940898352196, 'saturation': 0.005370370370370369, 'length': 1000.0, 'failure': 0.0, 'distance': 52.01815628528407, 'return': 1665.3017231905808, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:41,179Z INFO episode phase=validation condition=effort_random2__-0.5000 seed=110003 metrics={'x_velocity': 5.603000722366809, 'y_velocity': 0.0, 'planar_speed': 5.637770896333098, 'height': 0.6736648603288443, 'yaw_rate': 0.0, 'effort': 0.591642148250507, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 5.248015432796452, 'saturation': 0.13944444444444443, 'length': 1000.0, 'failure': 0.0, 'distance': 252.13503250650638, 'return': 5557.985818591816, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:42,109Z INFO episode phase=validation condition=effort_random2__-0.5000 seed=110004 metrics={'x_velocity': 7.60556188845677, 'y_velocity': 0.0, 'planar_speed': 7.60556188845677, 'height': 0.6864777947008994, 'yaw_rate': 0.0, 'effort': 0.5971788868142499, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.247254556258945, 'saturation': 0.1474074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 342.2502849805547, 'return': 7307.697031069063, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:42,144Z INFO episode phase=validation condition=effort_random2__-0.5000 seed=110005 metrics={'x_velocity': 7.56536071668998, 'y_velocity': 0.0, 'planar_speed': 7.596068839768036, 'height': 0.6894578897765211, 'yaw_rate': 0.0, 'effort': 0.5982537172486385, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 7.206408486302717, 'saturation': 0.14685185185185187, 'length': 1000.0, 'failure': 0.0, 'distance': 340.44123225104914, 'return': 7227.58549897415, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:42,159Z INFO episode phase=validation condition=effort_random2__-0.5000 seed=110006 metrics={'x_velocity': 1.2637718416635895, 'y_velocity': 0.0, 'planar_speed': 1.3845812440239285, 'height': 0.2135269477524507, 'yaw_rate': 0.0, 'effort': 0.22416458170214254, 'inversion': 0.9177777777777778, 'bad_contact': 0.3977777777777778, 'reward': 1.1292730926427696, 'saturation': 0.022222222222222223, 'length': 1000.0, 'failure': 0.0, 'distance': 56.86973287486153, 'return': 1775.2846056106653, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:42,173Z INFO episode phase=validation condition=effort_random2__-0.5000 seed=110007 metrics={'x_velocity': 7.845619641530571, 'y_velocity': 0.0, 'planar_speed': 7.863281993980151, 'height': 0.6869828430712993, 'yaw_rate': 0.0, 'effort': 0.5871022563676039, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 7.493358288017965, 'saturation': 0.14648148148148146, 'length': 1000.0, 'failure': 0.0, 'distance': 353.0528838688757, 'return': 7590.785452632765, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:43,210Z INFO episode phase=validation condition=effort_random2__-0.5000 seed=110008 metrics={'x_velocity': 3.6797915105998213, 'y_velocity': 0.0, 'planar_speed': 3.768196471812893, 'height': 0.3636135423023024, 'yaw_rate': 0.0, 'effort': 0.3337259719031863, 'inversion': 0.6533333333333333, 'bad_contact': 0.2922222222222222, 'reward': 3.4795559271512455, 'saturation': 0.06092592592592593, 'length': 1000.0, 'failure': 0.0, 'distance': 165.59061797699198, 'return': 3922.558162004361, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:43,226Z INFO episode phase=validation condition=effort_random2__-0.5000 seed=110009 metrics={'x_velocity': 6.624239558186727, 'y_velocity': 0.0, 'planar_speed': 6.627159744381919, 'height': 0.6667835642071487, 'yaw_rate': 0.0, 'effort': 0.45679756278379097, 'inversion': 0.016666666666666666, 'bad_contact': 0.21222222222222223, 'reward': 6.350161020396416, 'saturation': 0.11203703703703705, 'length': 1000.0, 'failure': 0.0, 'distance': 298.09078011840273, 'return': 6496.892564092679, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:43,241Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': -0.5, 'effect': {'behavior': 'effort', 'effect': -0.212192504651948, 'ci95': [-0.31503887011008985, -0.12167222773996188], 'relative_effect': -0.30703425348962515, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.478911182445681, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 5.40297573313484, 'effort': 0.478911182445681, 'height': 0.5574341656042971, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.25522222222222224, 'bad_contact': 0.1317777777777778, 'planar_speed': 5.453470206813678, 'saturation': 0.10794444444444444, 'reward': 5.115629023513929, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.25522222222222224, 'bad_contact': 0.1317777777777778, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:44,376Z INFO episode phase=validation condition=effort_random2__-0.2000 seed=110000 metrics={'x_velocity': 5.182596789911228, 'y_velocity': 0.0, 'planar_speed': 5.256824392349544, 'height': 0.40042201515453124, 'yaw_rate': 0.0, 'effort': 0.38400072526911067, 'inversion': 0.5922222222222222, 'bad_contact': 0.32555555555555554, 'reward': 4.952196354288861, 'saturation': 0.0387037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 233.21685554600526, 'return': 5191.5937611988575, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:44,393Z INFO episode phase=validation condition=effort_random2__-0.2000 seed=110003 metrics={'x_velocity': 8.170165185941865, 'y_velocity': 0.0, 'planar_speed': 8.17508129286259, 'height': 0.633274474111968, 'yaw_rate': 0.0, 'effort': 0.4164716865029186, 'inversion': 0.02666666666666667, 'bad_contact': 0.2788888888888889, 'reward': 7.920282174521296, 'saturation': 0.05185185185185186, 'length': 1000.0, 'failure': 0.0, 'distance': 367.657433367384, 'return': 7963.025886144178, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:44,410Z INFO episode phase=validation condition=effort_random2__-0.2000 seed=110002 metrics={'x_velocity': 11.607131296385555, 'y_velocity': 0.0, 'planar_speed': 11.607131296385555, 'height': 0.6641263901270587, 'yaw_rate': 0.0, 'effort': 0.617391257426805, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.23669654190795, 'saturation': 0.08944444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 522.32090833735, 'return': 10877.245139340952, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:44,425Z INFO episode phase=validation condition=effort_random2__-0.2000 seed=110001 metrics={'x_velocity': 12.254726536625839, 'y_velocity': 0.0, 'planar_speed': 12.254726536625839, 'height': 0.6616895380972891, 'yaw_rate': 0.0, 'effort': 0.6117231826318635, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.887692627040098, 'saturation': 0.0711111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 551.4626941481628, 'return': 11381.786113466933, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:45,367Z INFO episode phase=validation condition=effort_random2__-0.2000 seed=110006 metrics={'x_velocity': 3.4787447159438054, 'y_velocity': 0.0, 'planar_speed': 3.4840410886179485, 'height': 0.5906128020327214, 'yaw_rate': 0.0, 'effort': 0.18986163647017545, 'inversion': 0.01888888888888889, 'bad_contact': 0.6833333333333333, 'reward': 3.3648277341622825, 'saturation': 0.019999999999999997, 'length': 1000.0, 'failure': 0.0, 'distance': 156.54351221747126, 'return': 3787.2837829782266, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:45,382Z INFO episode phase=validation condition=effort_random2__-0.2000 seed=110005 metrics={'x_velocity': 8.839765957160818, 'y_velocity': 0.0, 'planar_speed': 8.89145421782617, 'height': 0.5734854488185176, 'yaw_rate': 0.0, 'effort': 0.5025164511303107, 'inversion': 0.29888888888888887, 'bad_contact': 0.13555555555555557, 'reward': 8.538256086311266, 'saturation': 0.06555555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 397.7894680722368, 'return': 8426.248338981844, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:45,397Z INFO episode phase=validation condition=effort_random2__-0.2000 seed=110004 metrics={'x_velocity': 2.815759364381274, 'y_velocity': 0.0, 'planar_speed': 2.8898632381670804, 'height': 0.2742699567322589, 'yaw_rate': 0.0, 'effort': 0.2953631701092753, 'inversion': 0.8233333333333334, 'bad_contact': 0.4311111111111111, 'reward': 2.638541462526394, 'saturation': 0.014259259259259258, 'length': 1000.0, 'failure': 0.0, 'distance': 126.70917139715732, 'return': 3159.855246709767, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:45,411Z INFO episode phase=validation condition=effort_random2__-0.2000 seed=110007 metrics={'x_velocity': 11.980550489378096, 'y_velocity': 0.0, 'planar_speed': 11.980550489378096, 'height': 0.6645108571512649, 'yaw_rate': 0.0, 'effort': 0.6060452035648956, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.61692336705869, 'saturation': 0.07518518518518517, 'length': 1000.0, 'failure': 0.0, 'distance': 539.1247720220143, 'return': 11301.994023769417, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:46,303Z INFO episode phase=validation condition=effort_random2__-0.2000 seed=110009 metrics={'x_velocity': 11.758659531049545, 'y_velocity': 0.0, 'planar_speed': 11.758659531049545, 'height': 0.6601945333263821, 'yaw_rate': 0.0, 'effort': 0.6181449946926699, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.387772533922673, 'saturation': 0.08407407407407406, 'length': 1000.0, 'failure': 0.0, 'distance': 529.1396788972296, 'return': 11030.74292626631, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:46,321Z INFO episode phase=validation condition=effort_random2__-0.2000 seed=110008 metrics={'x_velocity': 2.1796496670027645, 'y_velocity': 0.0, 'planar_speed': 2.187210731639528, 'height': 0.5895323855821514, 'yaw_rate': 0.0, 'effort': 0.1258574034501281, 'inversion': 0.02, 'bad_contact': 0.8033333333333333, 'reward': 2.1041352249347574, 'saturation': 0.014074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 98.08423501512442, 'return': 2684.679530009521, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:46,334Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': -0.2, 'effect': {'behavior': 'effort', 'effect': -0.2543661159728136, 'ci95': [-0.36721925330520877, -0.1529442623142024], 'relative_effect': -0.3680578192847646, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.43673757112481526, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 7.82677495337808, 'effort': 0.43673757112481526, 'height': 0.5712118401134143, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.178, 'bad_contact': 0.2657777777777778, 'planar_speed': 7.848554281490189, 'saturation': 0.05242592592592592, 'reward': 7.5647324106674265, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.178, 'bad_contact': 0.2657777777777778, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:47,316Z INFO episode phase=validation condition=effort_random2__-0.1000 seed=110002 metrics={'x_velocity': 3.2781119318696077, 'y_velocity': 0.0, 'planar_speed': 3.2781713227909313, 'height': 0.2836075944484167, 'yaw_rate': 0.0, 'effort': 0.18679527843577995, 'inversion': 0.7722222222222223, 'bad_contact': 0.73, 'reward': 3.166034764688103, 'saturation': 0.015, 'length': 1000.0, 'failure': 0.0, 'distance': 147.51503693413235, 'return': 3613.6495398430916, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:47,333Z INFO episode phase=validation condition=effort_random2__-0.1000 seed=110001 metrics={'x_velocity': 4.0003334157780115, 'y_velocity': 0.0, 'planar_speed': 4.008527158390918, 'height': 0.5953374887806216, 'yaw_rate': 0.0, 'effort': 0.2029121518528296, 'inversion': 0.028888888888888888, 'bad_contact': 0.6733333333333333, 'reward': 3.8785861246783178, 'saturation': 0.02148148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 180.01500371001052, 'return': 4173.590261341332, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:47,350Z INFO episode phase=validation condition=effort_random2__-0.1000 seed=110003 metrics={'x_velocity': 12.746552086188034, 'y_velocity': 0.0, 'planar_speed': 12.746552086188034, 'height': 0.6681213607838105, 'yaw_rate': 0.0, 'effort': 0.6406219364040427, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.362178924382032, 'saturation': 0.06685185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 573.5948438784616, 'return': 11960.73296101884, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:47,364Z INFO episode phase=validation condition=effort_random2__-0.1000 seed=110000 metrics={'x_velocity': 13.318050782266987, 'y_velocity': 0.0, 'planar_speed': 13.318050782266987, 'height': 0.6478103341761277, 'yaw_rate': 0.0, 'effort': 0.6312066026528677, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.939326820012992, 'saturation': 0.05981481481481481, 'length': 1000.0, 'failure': 0.0, 'distance': 599.3122852020144, 'return': 12380.011180350575, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:48,232Z INFO episode phase=validation condition=effort_random2__-0.1000 seed=110006 metrics={'x_velocity': 8.467524904749187, 'y_velocity': 0.0, 'planar_speed': 8.506719481564712, 'height': 0.48824444128473715, 'yaw_rate': 0.0, 'effort': 0.48643706236965956, 'inversion': 0.38666666666666666, 'bad_contact': 0.18333333333333332, 'reward': 8.175662667536628, 'saturation': 0.039629629629629626, 'length': 1000.0, 'failure': 0.0, 'distance': 381.03862071371344, 'return': 8117.0352230151375, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:48,246Z INFO episode phase=validation condition=effort_random2__-0.1000 seed=110004 metrics={'x_velocity': 13.160743268695583, 'y_velocity': 0.0, 'planar_speed': 13.160743268695583, 'height': 0.6524383771036434, 'yaw_rate': 0.0, 'effort': 0.6439124008019765, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 12.774395828028961, 'saturation': 0.0687037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 592.2334470913013, 'return': 12282.124175662078, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:48,264Z INFO episode phase=validation condition=effort_random2__-0.1000 seed=110005 metrics={'x_velocity': 1.610575439344878, 'y_velocity': 0.0, 'planar_speed': 1.6195614638347609, 'height': 0.582628329166384, 'yaw_rate': 0.0, 'effort': 0.09508746426138613, 'inversion': 0.0077777777777777776, 'bad_contact': 0.8433333333333334, 'reward': 1.553522960699467, 'saturation': 0.006851851851851851, 'length': 1000.0, 'failure': 0.0, 'distance': 72.4758947705195, 'return': 2139.9885259312255, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:48,279Z INFO episode phase=validation condition=effort_random2__-0.1000 seed=110007 metrics={'x_velocity': 13.044608393083584, 'y_velocity': 0.0, 'planar_speed': 13.044608393083584, 'height': 0.6416747960712933, 'yaw_rate': 0.0, 'effort': 0.6203445436639918, 'inversion': 0.04666666666666667, 'bad_contact': 0.006666666666666667, 'reward': 12.67240166673452, 'saturation': 0.06537037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 587.0073776887613, 'return': 12251.924493477665, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:49,156Z INFO episode phase=validation condition=effort_random2__-0.1000 seed=110008 metrics={'x_velocity': 13.348023130007883, 'y_velocity': 0.0, 'planar_speed': 13.348023130007883, 'height': 0.6490257432655153, 'yaw_rate': 0.0, 'effort': 0.6413264947798517, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.963227233093615, 'saturation': 0.06314814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 600.6610408503548, 'return': 12457.862337352493, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:49,171Z INFO episode phase=validation condition=effort_random2__-0.1000 seed=110009 metrics={'x_velocity': 13.357539157586046, 'y_velocity': 0.0, 'planar_speed': 13.357539157586046, 'height': 0.6527449502609814, 'yaw_rate': 0.0, 'effort': 0.6384393691354328, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.97447553587299, 'saturation': 0.06425925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 601.0892620913721, 'return': 12458.775628021594, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:49,182Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': -0.1, 'effect': {'behavior': 'effort', 'effect': -0.21239535666184706, 'ci95': [-0.3510666026440113, -0.08714864533028263], 'relative_effect': -0.30732777241259746, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.47870833043578187, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 9.633206250956981, 'effort': 0.47870833043578187, 'height': 0.5861633415341532, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.12422222222222223, 'bad_contact': 0.2437777777777778, 'planar_speed': 9.638849624440944, 'saturation': 0.047111111111111104, 'reward': 9.345981252572765, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.12422222222222223, 'bad_contact': 0.2437777777777778, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:50,138Z INFO episode phase=validation condition=effort_random2__-0.0500 seed=110000 metrics={'x_velocity': 10.265854679121247, 'y_velocity': 0.0, 'planar_speed': 10.276099315749374, 'height': 0.6118163496128753, 'yaw_rate': 0.0, 'effort': 0.46501644036422174, 'inversion': 0.015555555555555555, 'bad_contact': 0.26, 'reward': 9.986844814607174, 'saturation': 0.029999999999999992, 'length': 1000.0, 'failure': 0.0, 'distance': 461.96346056045616, 'return': 9722.77737548534, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:50,153Z INFO episode phase=validation condition=effort_random2__-0.0500 seed=110002 metrics={'x_velocity': 14.142447369676512, 'y_velocity': 0.0, 'planar_speed': 14.142447369676512, 'height': 0.6288235506315514, 'yaw_rate': 0.0, 'effort': 0.6458359263837338, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.754945813637656, 'saturation': 0.038148148148148146, 'length': 1000.0, 'failure': 0.0, 'distance': 636.4101316354431, 'return': 13143.669483897691, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:50,169Z INFO episode phase=validation condition=effort_random2__-0.0500 seed=110001 metrics={'x_velocity': 14.310173830791246, 'y_velocity': 0.0, 'planar_speed': 14.310173830791246, 'height': 0.63870959008796, 'yaw_rate': 0.0, 'effort': 0.653983193155792, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.917783914954065, 'saturation': 0.04629629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 643.957822385606, 'return': 13208.868272589505, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:50,183Z INFO episode phase=validation condition=effort_random2__-0.0500 seed=110003 metrics={'x_velocity': 14.455207881826594, 'y_velocity': 0.0, 'planar_speed': 14.455207881826594, 'height': 0.6377044913831603, 'yaw_rate': 0.0, 'effort': 0.6566869801945157, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.061195694001286, 'saturation': 0.044259259259259255, 'length': 1000.0, 'failure': 0.0, 'distance': 650.4843546821967, 'return': 13489.848053676167, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:51,056Z INFO episode phase=validation condition=effort_random2__-0.0500 seed=110004 metrics={'x_velocity': 7.498387915714477, 'y_velocity': 0.0, 'planar_speed': 7.507278697589768, 'height': 0.6046513319257386, 'yaw_rate': 0.0, 'effort': 0.35278335656453336, 'inversion': 0.02, 'bad_contact': 0.44555555555555554, 'reward': 7.2867179016584105, 'saturation': 0.025925925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 337.42745620715147, 'return': 7343.2140419285815, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:51,071Z INFO episode phase=validation condition=effort_random2__-0.0500 seed=110005 metrics={'x_velocity': 13.957082578727496, 'y_velocity': 0.0, 'planar_speed': 13.957082578727496, 'height': 0.6351000300265482, 'yaw_rate': 0.0, 'effort': 0.6468139659033881, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.568994199794755, 'saturation': 0.046851851851851846, 'length': 1000.0, 'failure': 0.0, 'distance': 628.0687160427374, 'return': 12953.912641116984, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:51,089Z INFO episode phase=validation condition=effort_random2__-0.0500 seed=110006 metrics={'x_velocity': 1.7186223011574604, 'y_velocity': 0.0, 'planar_speed': 1.7234952328540272, 'height': 0.5639765399648302, 'yaw_rate': 0.0, 'effort': 0.08951699777506292, 'inversion': 0.025555555555555557, 'bad_contact': 0.8322222222222222, 'reward': 1.664912102604388, 'saturation': 0.0077777777777777776, 'length': 1000.0, 'failure': 0.0, 'distance': 77.33800355208572, 'return': 2257.359714576122, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:51,104Z INFO episode phase=validation condition=effort_random2__-0.0500 seed=110007 metrics={'x_velocity': 13.838507314434395, 'y_velocity': 0.0, 'planar_speed': 13.838507314434395, 'height': 0.6327136933816764, 'yaw_rate': 0.0, 'effort': 0.643768112593227, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.452246446706269, 'saturation': 0.052037037037037034, 'length': 1000.0, 'failure': 0.0, 'distance': 622.7328291495478, 'return': 12953.784795452237, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:52,139Z INFO episode phase=validation condition=effort_random2__-0.0500 seed=110008 metrics={'x_velocity': 1.6697846710134348, 'y_velocity': 0.0, 'planar_speed': 1.6737269348757773, 'height': 0.5558951499240928, 'yaw_rate': 0.0, 'effort': 0.08715952253900468, 'inversion': 0.017777777777777778, 'bad_contact': 0.8455555555555555, 'reward': 1.6174889574869276, 'saturation': 0.007037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 75.14031019560456, 'return': 2246.6978893064743, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:52,164Z INFO episode phase=validation condition=effort_random2__-0.0500 seed=110009 metrics={'x_velocity': 2.3954601628439316, 'y_velocity': 0.0, 'planar_speed': 2.4046890369373766, 'height': 0.5870449591271869, 'yaw_rate': 0.0, 'effort': 0.1285757927938054, 'inversion': 0.013333333333333334, 'bad_contact': 0.79, 'reward': 2.318314686829682, 'saturation': 0.009444444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 107.79570732797693, 'return': 2868.2308638826166, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:52,183Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': -0.05, 'effect': {'behavior': 'effort', 'effect': -0.25408965827090046, 'ci95': [-0.40373500719832306, -0.1117331949838906], 'relative_effect': -0.36765779580482316, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.43701402882672846, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 9.42515287053068, 'effort': 0.43701402882672846, 'height': 0.6096435686065621, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.009222222222222224, 'bad_contact': 0.31733333333333336, 'planar_speed': 9.428870819346255, 'saturation': 0.030777777777777775, 'reward': 9.16294445322806, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.009222222222222224, 'bad_contact': 0.31733333333333336, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:53,288Z INFO episode phase=validation condition=effort_random2__+0.0500 seed=110002 metrics={'x_velocity': 16.281056307737224, 'y_velocity': 0.0, 'planar_speed': 16.281056307737224, 'height': 0.6137497393309695, 'yaw_rate': 0.0, 'effort': 0.6419258336226146, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.895900807590145, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 732.647533848175, 'return': 15070.528978454931, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:53,305Z INFO episode phase=validation condition=effort_random2__+0.0500 seed=110000 metrics={'x_velocity': 16.27057905379799, 'y_velocity': 0.0, 'planar_speed': 16.27057905379799, 'height': 0.6139457697751277, 'yaw_rate': 0.0, 'effort': 0.6411904131703906, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.885864806279875, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 732.1760574209096, 'return': 15031.895367990768, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:53,322Z INFO episode phase=validation condition=effort_random2__+0.0500 seed=110003 metrics={'x_velocity': 16.316696417059784, 'y_velocity': 0.0, 'planar_speed': 16.316696417059784, 'height': 0.6140933301119945, 'yaw_rate': 0.0, 'effort': 0.6407170621554057, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.932266180137416, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 734.2513387676904, 'return': 15173.811491198685, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:53,339Z INFO episode phase=validation condition=effort_random2__+0.0500 seed=110001 metrics={'x_velocity': 16.274656861413458, 'y_velocity': 0.0, 'planar_speed': 16.274656861413458, 'height': 0.6140139034276885, 'yaw_rate': 0.0, 'effort': 0.6411002567741606, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.889996707335715, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 732.3595587636056, 'return': 14983.859785732991, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:54,369Z INFO episode phase=validation condition=effort_random2__+0.0500 seed=110004 metrics={'x_velocity': 16.25383913815964, 'y_velocity': 0.0, 'planar_speed': 16.25383913815964, 'height': 0.6137989031192715, 'yaw_rate': 0.0, 'effort': 0.6407068712843789, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.869415015004897, 'saturation': 0.0011111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 731.422761217184, 'return': 15067.641443940418, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:54,384Z INFO episode phase=validation condition=effort_random2__+0.0500 seed=110006 metrics={'x_velocity': 16.296313363262307, 'y_velocity': 0.0, 'planar_speed': 16.296313363262307, 'height': 0.6142044040380816, 'yaw_rate': 0.0, 'effort': 0.6403176470597585, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.912122775132415, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 733.3341013468039, 'return': 15079.849319851346, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:54,399Z INFO episode phase=validation condition=effort_random2__+0.0500 seed=110005 metrics={'x_velocity': 16.268663438747083, 'y_velocity': 0.0, 'planar_speed': 16.268663438747083, 'height': 0.6141723195541657, 'yaw_rate': 0.0, 'effort': 0.6401591466201676, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.884567950516697, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 732.0898547436188, 'return': 15037.929016766731, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:54,415Z INFO episode phase=validation condition=effort_random2__+0.0500 seed=110007 metrics={'x_velocity': 16.326334638037167, 'y_velocity': 0.0, 'planar_speed': 16.326334638037167, 'height': 0.6140313629251818, 'yaw_rate': 0.0, 'effort': 0.6409238599406348, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.941780321860861, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 734.6850587116726, 'return': 15194.36528309137, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:55,402Z INFO episode phase=validation condition=effort_random2__+0.0500 seed=110008 metrics={'x_velocity': 16.313513659633042, 'y_velocity': 0.0, 'planar_speed': 16.313513659633042, 'height': 0.6138473374713463, 'yaw_rate': 0.0, 'effort': 0.6415419925583733, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.928588464283456, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 734.108114683487, 'return': 15126.68744542335, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:55,416Z INFO episode phase=validation condition=effort_random2__+0.0500 seed=110009 metrics={'x_velocity': 16.292571529312454, 'y_velocity': 0.0, 'planar_speed': 16.292571529312454, 'height': 0.6140118868410135, 'yaw_rate': 0.0, 'effort': 0.6409654928578271, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.907992233491795, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 733.1657188190605, 'return': 15098.94065587852, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:55,431Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': 0.05, 'effect': {'behavior': 'effort', 'effect': -0.05014882949325776, 'ci95': [-0.05094408559484618, -0.04928821756069862], 'relative_effect': -0.07256339450866434, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6409548576043711, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.289422440716017, 'effort': 0.6409548576043711, 'height': 0.6139868956594842, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.289422440716017, 'saturation': 0.00011111111111111112, 'reward': 15.904849526163327, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:56,495Z INFO episode phase=validation condition=effort_random2__+0.1000 seed=110000 metrics={'x_velocity': 14.393606049317267, 'y_velocity': 0.0, 'planar_speed': 14.393606049317267, 'height': 0.6312634044002114, 'yaw_rate': 0.0, 'effort': 0.6058114640249146, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.030119170816223, 'saturation': 0.012037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 647.7122722192771, 'return': 13361.724296073484, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:56,510Z INFO episode phase=validation condition=effort_random2__+0.1000 seed=110003 metrics={'x_velocity': 14.53596622996752, 'y_velocity': 0.0, 'planar_speed': 14.53596622996752, 'height': 0.6286048492090787, 'yaw_rate': 0.0, 'effort': 0.6059424886438581, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.172400736370596, 'saturation': 0.012407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 654.1184803485385, 'return': 13589.932591808549, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:14:56,524Z INFO episode phase=validation condition=effort_random2__+0.1000 seed=110001 metrics={'x_velocity': 14.60186929834456, 'y_velocity': 0.0, 'planar_speed': 14.60186929834456, 'height': 0.6307765702982693, 'yaw_rate': 0.0, 'effort': 0.5970014409886466, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.2436684338176, 'saturation': 0.006666666666666665, 'length': 1000.0, 'failure': 0.0, 'distance': 657.0841184255053, 'return': 13502.164339566685, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:56,541Z INFO episode phase=validation condition=effort_random2__+0.1000 seed=110002 metrics={'x_velocity': 14.390096889231746, 'y_velocity': 0.0, 'planar_speed': 14.390096889231746, 'height': 0.625696423135712, 'yaw_rate': 0.0, 'effort': 0.6068929515282313, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.025961118275069, 'saturation': 0.015555555555555553, 'length': 1000.0, 'failure': 0.0, 'distance': 647.5543600154286, 'return': 13387.583258071361, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:57,452Z INFO episode phase=validation condition=effort_random2__+0.1000 seed=110004 metrics={'x_velocity': 14.541904442900085, 'y_velocity': 0.0, 'planar_speed': 14.541904442900085, 'height': 0.6278448322271459, 'yaw_rate': 0.0, 'effort': 0.6058156537678506, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.178415050579773, 'saturation': 0.014074074074074076, 'length': 1000.0, 'failure': 0.0, 'distance': 654.385699930504, 'return': 13545.741475957808, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:14:57,469Z INFO episode phase=validation condition=effort_random2__+0.1000 seed=110005 metrics={'x_velocity': 14.351634476297628, 'y_velocity': 0.0, 'planar_speed': 14.351634476297628, 'height': 0.6291132316611835, 'yaw_rate': 0.0, 'effort': 0.607529969215393, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.987116494702166, 'saturation': 0.015555555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 645.8235514333933, 'return': 13330.222706533656, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:14:57,485Z INFO episode phase=validation condition=effort_random2__+0.1000 seed=110006 metrics={'x_velocity': 14.429361769991305, 'y_velocity': 0.0, 'planar_speed': 14.429361769991305, 'height': 0.6282770417744018, 'yaw_rate': 0.0, 'effort': 0.6052943656841914, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.066185150329124, 'saturation': 0.012222222222222223, 'length': 1000.0, 'failure': 0.0, 'distance': 649.3212796496088, 'return': 13418.505457528387, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:14:57,499Z INFO episode phase=validation condition=effort_random2__+0.1000 seed=110007 metrics={'x_velocity': 13.685665242277306, 'y_velocity': 0.0, 'planar_speed': 13.685665242277306, 'height': 0.6341038812612366, 'yaw_rate': 0.0, 'effort': 0.6233987836539745, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.311625972260424, 'saturation': 0.03092592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 615.8549359024788, 'return': 12827.226368450978, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:14:58,339Z INFO episode phase=validation condition=effort_random2__+0.1000 seed=110009 metrics={'x_velocity': 14.278849116773086, 'y_velocity': 0.0, 'planar_speed': 14.278849116773086, 'height': 0.6285818464256174, 'yaw_rate': 0.0, 'effort': 0.6085552989443144, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.913715937439612, 'saturation': 0.01888888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 642.548210254789, 'return': 13304.091989431552, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:14:58,353Z INFO episode phase=validation condition=effort_random2__+0.1000 seed=110008 metrics={'x_velocity': 14.594629907793259, 'y_velocity': 0.0, 'planar_speed': 14.594629907793259, 'height': 0.6290196659443692, 'yaw_rate': 0.0, 'effort': 0.6050280805428823, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.231613059255602, 'saturation': 0.010185185185185183, 'length': 1000.0, 'failure': 0.0, 'distance': 656.7583458506966, 'return': 13599.40958089828, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:14:58,369Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': 0.1, 'effect': {'behavior': 'effort', 'effect': -0.08397663739820324, 'ci95': [-0.08767340913340455, -0.07971297896206381], 'relative_effect': -0.12151090923978859, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6071270496994258, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 14.380358342289375, 'effort': 0.6071270496994258, 'height': 0.6293281746337226, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 14.380358342289375, 'saturation': 0.014851851851851852, 'reward': 14.01608211238462, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:14:59,258Z INFO episode phase=validation condition=effort_random2__+0.2000 seed=110001 metrics={'x_velocity': 6.14312128392989, 'y_velocity': 0.0, 'planar_speed': 6.157422523688181, 'height': 0.5921915317587092, 'yaw_rate': 0.0, 'effort': 0.3513567164602379, 'inversion': 0.016666666666666666, 'bad_contact': 0.46555555555555556, 'reward': 5.932307254114179, 'saturation': 0.04833333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 276.44045777684505, 'return': 6021.93927783361, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:14:59,273Z INFO episode phase=validation condition=effort_random2__+0.2000 seed=110002 metrics={'x_velocity': 3.670287095066468, 'y_velocity': 0.0, 'planar_speed': 3.7390533705596902, 'height': 0.34673258368588195, 'yaw_rate': 0.0, 'effort': 0.4142153578562041, 'inversion': 0.7166666666666667, 'bad_contact': 0.31777777777777777, 'reward': 3.421757880164412, 'saturation': 0.04925925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 165.16291927799108, 'return': 3843.80034377177, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:14:59,289Z INFO episode phase=validation condition=effort_random2__+0.2000 seed=110000 metrics={'x_velocity': 10.592759194040125, 'y_velocity': 0.0, 'planar_speed': 10.592759194040125, 'height': 0.621352527590226, 'yaw_rate': 0.0, 'effort': 0.6881139467325476, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.179890826381403, 'saturation': 0.12037037037037036, 'length': 1000.0, 'failure': 0.0, 'distance': 476.6741637318057, 'return': 9896.518786082146, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:14:59,303Z INFO episode phase=validation condition=effort_random2__+0.2000 seed=110003 metrics={'x_velocity': 10.790536659739612, 'y_velocity': 0.0, 'planar_speed': 10.790536659739612, 'height': 0.6321979334347376, 'yaw_rate': 0.0, 'effort': 0.6846318363646666, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.379757557785044, 'saturation': 0.12703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 485.57414968828255, 'return': 10176.553731081553, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:15:00,198Z INFO episode phase=validation condition=effort_random2__+0.2000 seed=110004 metrics={'x_velocity': 10.130085225976776, 'y_velocity': 0.0, 'planar_speed': 10.130085225976776, 'height': 0.6339968818062038, 'yaw_rate': 0.0, 'effort': 0.6906803327467707, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.715677025937975, 'saturation': 0.13166666666666665, 'length': 1000.0, 'failure': 0.0, 'distance': 455.8538351689549, 'return': 9529.277253780188, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:15:00,218Z INFO episode phase=validation condition=effort_random2__+0.2000 seed=110006 metrics={'x_velocity': 10.956661469045102, 'y_velocity': 0.0, 'planar_speed': 10.956661469045102, 'height': 0.6245811801590417, 'yaw_rate': 0.0, 'effort': 0.6921973043349054, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.541343086781918, 'saturation': 0.12277777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 493.04976610702965, 'return': 10246.147600335898, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:15:00,232Z INFO episode phase=validation condition=effort_random2__+0.2000 seed=110005 metrics={'x_velocity': 10.839457370278822, 'y_velocity': 0.0, 'planar_speed': 10.839457370278822, 'height': 0.6188102557203702, 'yaw_rate': 0.0, 'effort': 0.6917977150115702, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.424378741116247, 'saturation': 0.12277777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 487.77558166254704, 'return': 10123.758728306328, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:15:00,248Z INFO episode phase=validation condition=effort_random2__+0.2000 seed=110007 metrics={'x_velocity': 4.279575396558369, 'y_velocity': 0.0, 'planar_speed': 4.369580445217606, 'height': 0.35067610674444055, 'yaw_rate': 0.0, 'effort': 0.427628756734646, 'inversion': 0.6788888888888889, 'bad_contact': 0.3244444444444444, 'reward': 4.022998142615681, 'saturation': 0.04611111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 192.58089284512658, 'return': 4467.461321770708, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:15:01,114Z INFO episode phase=validation condition=effort_random2__+0.2000 seed=110008 metrics={'x_velocity': 10.74934297440016, 'y_velocity': 0.0, 'planar_speed': 10.74934297440016, 'height': 0.6362587687931092, 'yaw_rate': 0.0, 'effort': 0.6897627106308937, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.335485348120965, 'saturation': 0.13203703703703704, 'length': 1000.0, 'failure': 0.0, 'distance': 483.7204338480072, 'return': 10092.894640877108, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:15:01,131Z INFO episode phase=validation condition=effort_random2__+0.2000 seed=110009 metrics={'x_velocity': 7.089589224543416, 'y_velocity': 0.0, 'planar_speed': 7.101168364281117, 'height': 0.6223001175518812, 'yaw_rate': 0.0, 'effort': 0.45909533287760695, 'inversion': 0.012222222222222223, 'bad_contact': 0.3088888888888889, 'reward': 6.8141320247211326, 'saturation': 0.08018518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 319.0315151044538, 'return': 6914.466467984923, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:15:01,143Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': 0.2, 'effect': {'behavior': 'effort', 'effect': -0.11215568612262401, 'ci95': [-0.20242209051692367, -0.027723203551313958], 'relative_effect': -0.16228489041005553, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5789480009750049, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.524141589357873, 'effort': 0.5789480009750049, 'height': 0.5679097887244601, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.14244444444444443, 'bad_contact': 0.14166666666666666, 'planar_speed': 8.54260675972272, 'saturation': 0.09805555555555555, 'reward': 8.176772788773896, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.14244444444444443, 'bad_contact': 0.14166666666666666, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:15:02,057Z INFO episode phase=validation condition=effort_random2__+0.5000 seed=110001 metrics={'x_velocity': 0.6692875371701864, 'y_velocity': 0.0, 'planar_speed': 0.6703944890818541, 'height': 0.7131351082272512, 'yaw_rate': 0.0, 'effort': 0.659530123339759, 'inversion': 0.0, 'bad_contact': 0.8933333333333333, 'reward': 0.27356946319282194, 'saturation': 0.33111111111111113, 'length': 1000.0, 'failure': 0.0, 'distance': 30.117939172658392, 'return': 929.0752660043861, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:15:02,084Z INFO episode phase=validation condition=effort_random2__+0.5000 seed=110002 metrics={'x_velocity': 1.1193851831928732, 'y_velocity': 0.0, 'planar_speed': 1.119953448039642, 'height': 0.7090359683420395, 'yaw_rate': 0.0, 'effort': 0.670458534128136, 'inversion': 0.0, 'bad_contact': 0.8311111111111111, 'reward': 0.7171100629610327, 'saturation': 0.3379629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 50.37233324367929, 'return': 1409.617308288729, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:15:02,100Z INFO episode phase=validation condition=effort_random2__+0.5000 seed=110000 metrics={'x_velocity': 1.3245870693651445, 'y_velocity': 0.0, 'planar_speed': 1.500569040755583, 'height': 0.23479719807946248, 'yaw_rate': 0.0, 'effort': 0.39152183381633626, 'inversion': 0.9722222222222222, 'bad_contact': 0.3711111111111111, 'reward': 1.0896739691043171, 'saturation': 0.02259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 59.6064181214315, 'return': 1715.323614532769, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:15:02,116Z INFO episode phase=validation condition=effort_random2__+0.5000 seed=110003 metrics={'x_velocity': 1.6010573270730524, 'y_velocity': 0.0, 'planar_speed': 1.6296591930466147, 'height': 0.6957478924409645, 'yaw_rate': 0.0, 'effort': 0.6765402953161134, 'inversion': 0.0077777777777777776, 'bad_contact': 0.5955555555555555, 'reward': 1.1951331497045703, 'saturation': 0.32185185185185183, 'length': 1000.0, 'failure': 0.0, 'distance': 72.04757971828735, 'return': 1910.3917638091232, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:15:03,016Z INFO episode phase=validation condition=effort_random2__+0.5000 seed=110004 metrics={'x_velocity': 0.649526012860517, 'y_velocity': 0.0, 'planar_speed': 0.6680138528745797, 'height': 0.5532786574500557, 'yaw_rate': 0.0, 'effort': 0.04253052249214508, 'inversion': 0.016666666666666666, 'bad_contact': 0.9166666666666666, 'reward': 0.624007699466796, 'saturation': 0.010185185185185186, 'length': 1000.0, 'failure': 0.0, 'distance': 29.228670578723268, 'return': 1346.7748599561285, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:15:03,038Z INFO episode phase=validation condition=effort_random2__+0.5000 seed=110005 metrics={'x_velocity': 0.6752192187425822, 'y_velocity': 0.0, 'planar_speed': 0.6860244192816723, 'height': 0.5543537990646588, 'yaw_rate': 0.0, 'effort': 0.053304004474905214, 'inversion': 0.011111111111111112, 'bad_contact': 0.9066666666666666, 'reward': 0.6432368159909457, 'saturation': 0.018518518518518517, 'length': 1000.0, 'failure': 0.0, 'distance': 30.3848648434162, 'return': 1320.730995693556, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:15:03,051Z INFO episode phase=validation condition=effort_random2__+0.5000 seed=110007 metrics={'x_velocity': 1.4634214553627196, 'y_velocity': 0.0, 'planar_speed': 1.6257268925160937, 'height': 0.2757816639860529, 'yaw_rate': 0.0, 'effort': 0.41357628404266306, 'inversion': 0.9155555555555556, 'bad_contact': 0.36666666666666664, 'reward': 1.2152756850629536, 'saturation': 0.04481481481481483, 'length': 1000.0, 'failure': 0.0, 'distance': 65.85396549132238, 'return': 1940.5111099732544, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:15:03,067Z INFO episode phase=validation condition=effort_random2__+0.5000 seed=110006 metrics={'x_velocity': 1.5396100270757163, 'y_velocity': 0.0, 'planar_speed': 1.7187298078085278, 'height': 0.34244511323955495, 'yaw_rate': 0.0, 'effort': 0.4635691058511535, 'inversion': 0.7411111111111112, 'bad_contact': 0.3244444444444444, 'reward': 1.2614685638936773, 'saturation': 0.0922222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 69.28245121840723, 'return': 1894.2605297364823, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:15:04,005Z INFO episode phase=validation condition=effort_random2__+0.5000 seed=110008 metrics={'x_velocity': 0.6644083830260231, 'y_velocity': 0.0, 'planar_speed': 0.6682369612789689, 'height': 0.5688562839942787, 'yaw_rate': 0.0, 'effort': 0.04680693741008225, 'inversion': 0.01888888888888889, 'bad_contact': 0.9111111111111111, 'reward': 0.6363242205875279, 'saturation': 0.009259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 29.898377236171044, 'return': 1363.6496260970146, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:15:04,035Z INFO episode phase=validation condition=effort_random2__+0.5000 seed=110009 metrics={'x_velocity': 1.5088217815187328, 'y_velocity': 0.0, 'planar_speed': 1.6481542200084045, 'height': 0.2579300430036679, 'yaw_rate': 0.0, 'effort': 0.4245530688431528, 'inversion': 0.9055555555555556, 'bad_contact': 0.36333333333333334, 'reward': 1.2540899401797272, 'saturation': 0.045, 'length': 1000.0, 'failure': 0.0, 'distance': 67.89698016834298, 'return': 1910.4285918976584, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:15:04,048Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': 0.5, 'effect': {'behavior': 'effort', 'effect': -0.3068646161261842, 'ci95': [-0.45485914818819667, -0.16301145739025677], 'relative_effect': -0.4440210953220322, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.3842390709714446, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 1.1215323995387547, 'effort': 0.3842390709714446, 'height': 0.4905361727827987, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.35888888888888887, 'bad_contact': 0.648, 'planar_speed': 1.1935462324691941, 'saturation': 0.12335185185185185, 'reward': 0.890988957014437, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.35888888888888887, 'bad_contact': 0.648, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:15:04,984Z INFO episode phase=validation condition=effort_shuffled__-0.5000 seed=110001 metrics={'x_velocity': 0.9044109322086916, 'y_velocity': 0.0, 'planar_speed': 0.9103982070974033, 'height': 0.5780652303921877, 'yaw_rate': 0.0, 'effort': 0.7943580253380869, 'inversion': 0.0, 'bad_contact': 0.7755555555555556, 'reward': 0.42779611726495415, 'saturation': 0.1438888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 40.698491949391126, 'return': 1067.879254669305, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:15:05,000Z INFO episode phase=validation condition=effort_shuffled__-0.5000 seed=110000 metrics={'x_velocity': 0.7998418911894917, 'y_velocity': 0.0, 'planar_speed': 0.940663959955444, 'height': 0.18416921055502677, 'yaw_rate': 0.0, 'effort': 0.1406628139047987, 'inversion': 0.9188888888888889, 'bad_contact': 0.8855555555555555, 'reward': 0.7154442027830753, 'saturation': 0.013518518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 35.99288510352712, 'return': 1378.5168248436512, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:15:05,017Z INFO episode phase=validation condition=effort_shuffled__-0.5000 seed=110003 metrics={'x_velocity': 1.739610026197368, 'y_velocity': 0.0, 'planar_speed': 1.7775850669196556, 'height': 0.6245011470884064, 'yaw_rate': 0.0, 'effort': 0.23819675114419725, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 1.5966919753966071, 'saturation': 0.017777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 78.28245117888156, 'return': 2271.7947069319566, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:15:05,036Z INFO episode phase=validation condition=effort_shuffled__-0.5000 seed=110002 metrics={'x_velocity': 0.6410650626288064, 'y_velocity': 0.0, 'planar_speed': 0.6937453425496415, 'height': 0.6139974597283469, 'yaw_rate': 0.0, 'effort': 0.1723494666400883, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 0.5376553826265409, 'saturation': 0.01574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 28.847927818296284, 'return': 1248.1080959876863, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:15:05,978Z INFO episode phase=validation condition=effort_shuffled__-0.5000 seed=110006 metrics={'x_velocity': 0.591058702073996, 'y_velocity': 0.0, 'planar_speed': 0.5916274490161298, 'height': 0.1655663350673654, 'yaw_rate': 0.0, 'effort': 0.05044250910894738, 'inversion': 0.9511111111111111, 'bad_contact': 0.9288888888888889, 'reward': 0.5607931966053162, 'saturation': 0.005555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 26.597641593329822, 'return': 1263.6526991769574, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:15:05,993Z INFO episode phase=validation condition=effort_shuffled__-0.5000 seed=110004 metrics={'x_velocity': 2.142340957007986, 'y_velocity': 0.0, 'planar_speed': 2.143538175944847, 'height': 0.6019357808674104, 'yaw_rate': 0.0, 'effort': 0.637043605827623, 'inversion': 0.0, 'bad_contact': 0.4811111111111111, 'reward': 1.76011479370016, 'saturation': 0.11, 'length': 1000.0, 'failure': 0.0, 'distance': 96.40534306535938, 'return': 2369.271244766156, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:15:06,028Z INFO episode phase=validation condition=effort_shuffled__-0.5000 seed=110005 metrics={'x_velocity': 1.2474117436492655, 'y_velocity': 0.0, 'planar_speed': 1.2799030425368734, 'height': 0.6172961122541667, 'yaw_rate': 0.0, 'effort': 0.1994873316420449, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 1.1277193444885358, 'saturation': 0.01425925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 56.13352846421696, 'return': 1756.7652713413868, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:15:06,045Z INFO episode phase=validation condition=effort_shuffled__-0.5000 seed=110007 metrics={'x_velocity': 0.9949253687725003, 'y_velocity': 0.0, 'planar_speed': 1.0149652040582964, 'height': 0.6123059725351735, 'yaw_rate': 0.0, 'effort': 0.17946789069308175, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 0.8872446343765196, 'saturation': 0.010555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 44.771641594762514, 'return': 1645.2831643554641, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:15:06,883Z INFO episode phase=validation condition=effort_shuffled__-0.5000 seed=110008 metrics={'x_velocity': 0.6584505898481547, 'y_velocity': 0.0, 'planar_speed': 0.6606191310293943, 'height': 0.5622357261237874, 'yaw_rate': 0.0, 'effort': 0.04017165548375083, 'inversion': 0.01, 'bad_contact': 0.9122222222222223, 'reward': 0.6343475966094375, 'saturation': 0.0031481481481481477, 'length': 1000.0, 'failure': 0.0, 'distance': 29.630276543166964, 'return': 1361.8706645167329, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:15:06,900Z INFO episode phase=validation condition=effort_shuffled__-0.5000 seed=110009 metrics={'x_velocity': 2.6187420108334316, 'y_velocity': 0.0, 'planar_speed': 2.626083907972689, 'height': 0.6318234908385161, 'yaw_rate': 0.0, 'effort': 0.4519024610850546, 'inversion': 0.0, 'bad_contact': 0.1322222222222222, 'reward': 2.347600534238692, 'saturation': 0.056666666666666664, 'length': 1000.0, 'failure': 0.0, 'distance': 117.84339048750442, 'return': 2894.5881265507264, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:15:06,913Z INFO validation {'vector': 'effort_shuffled', 'behavior': 'effort', 'alpha': -0.5, 'effect': {'behavior': 'effort', 'effect': -0.40069543601086155, 'ci95': [-0.5358091460352168, -0.23729093104149487], 'relative_effect': -0.5797906211347664, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.2904082510867674, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 1.2337857284409692, 'effort': 0.2904082510867674, 'height': 0.5191896465450387, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.188, 'bad_contact': 0.41211111111111104, 'planar_speed': 1.2639129487080374, 'saturation': 0.03911111111111111, 'reward': 1.059540777808984, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.188, 'bad_contact': 0.41211111111111104, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:15:07,874Z INFO episode phase=validation condition=effort_shuffled__-0.2000 seed=110003 metrics={'x_velocity': 8.386059673080993, 'y_velocity': 0.0, 'planar_speed': 8.386059673080993, 'height': 0.6628732675929842, 'yaw_rate': 0.0, 'effort': 0.44972997305293877, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.116221689174724, 'saturation': 0.002777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 377.37268528864473, 'return': 8139.371449332262, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:15:07,889Z INFO episode phase=validation condition=effort_shuffled__-0.2000 seed=110000 metrics={'x_velocity': 8.508733342226448, 'y_velocity': 0.0, 'planar_speed': 8.508733342226448, 'height': 0.6616029298103967, 'yaw_rate': 0.0, 'effort': 0.4504892201638884, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.23843981003374, 'saturation': 0.0014814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 382.8930004001902, 'return': 8149.212871369251, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:15:07,905Z INFO episode phase=validation condition=effort_shuffled__-0.2000 seed=110001 metrics={'x_velocity': 8.283921987446824, 'y_velocity': 0.0, 'planar_speed': 8.283921987446824, 'height': 0.6624883116074408, 'yaw_rate': 0.0, 'effort': 0.45755685694101783, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.009387872925414, 'saturation': 0.006111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 372.7764894351071, 'return': 7891.311834763718, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:15:07,920Z INFO episode phase=validation condition=effort_shuffled__-0.2000 seed=110002 metrics={'x_velocity': 8.116666114175855, 'y_velocity': 0.0, 'planar_speed': 8.116666114175855, 'height': 0.6609082805567262, 'yaw_rate': 0.0, 'effort': 0.45728577926754954, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 7.842294646201404, 'saturation': 0.010925925925925924, 'length': 1000.0, 'failure': 0.0, 'distance': 365.24997513791345, 'return': 7822.283433205063, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:15:08,778Z INFO episode phase=validation condition=effort_shuffled__-0.2000 seed=110004 metrics={'x_velocity': 8.340694395032056, 'y_velocity': 0.0, 'planar_speed': 8.340694395032056, 'height': 0.6707463054777346, 'yaw_rate': 0.0, 'effort': 0.45525370625985995, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.067542171392038, 'saturation': 0.007222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 375.3312477764425, 'return': 8045.955884688847, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:15:08,798Z INFO episode phase=validation condition=effort_shuffled__-0.2000 seed=110005 metrics={'x_velocity': 0.7005238657545, 'y_velocity': 0.0, 'planar_speed': 0.7060377245737027, 'height': 0.5741049777387608, 'yaw_rate': 0.0, 'effort': 0.051265203032849566, 'inversion': 0.027777777777777776, 'bad_contact': 0.9044444444444445, 'reward': 0.6697647439275467, 'saturation': 0.0033333333333333335, 'length': 1000.0, 'failure': 0.0, 'distance': 31.5235739589525, 'return': 1344.6061308364965, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:15:08,814Z INFO episode phase=validation condition=effort_shuffled__-0.2000 seed=110006 metrics={'x_velocity': 8.578224625861905, 'y_velocity': 0.0, 'planar_speed': 8.578224625861905, 'height': 0.6650242725786698, 'yaw_rate': 0.0, 'effort': 0.4447804795557426, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.311356338017116, 'saturation': 0.00037037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 386.0201081637858, 'return': 8239.159526447576, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:15:08,826Z INFO episode phase=validation condition=effort_shuffled__-0.2000 seed=110007 metrics={'x_velocity': 8.582353031101968, 'y_velocity': 0.0, 'planar_speed': 8.582353031101968, 'height': 0.6730568709600269, 'yaw_rate': 0.0, 'effort': 0.44650922189984055, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.314447497556422, 'saturation': 0.002962962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 386.2058863995886, 'return': 8329.765741217376, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:15:09,660Z INFO episode phase=validation condition=effort_shuffled__-0.2000 seed=110008 metrics={'x_velocity': 0.6415802411006416, 'y_velocity': 0.0, 'planar_speed': 0.6468948548602482, 'height': 0.5807182447626599, 'yaw_rate': 0.0, 'effort': 0.0465990971463422, 'inversion': 0.03, 'bad_contact': 0.8988888888888888, 'reward': 0.6136207828364296, 'saturation': 0.004074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 28.871110849528876, 'return': 1343.2165321210261, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:15:09,681Z INFO episode phase=validation condition=effort_shuffled__-0.2000 seed=110009 metrics={'x_velocity': 8.50651037214634, 'y_velocity': 0.0, 'planar_speed': 8.50651037214634, 'height': 0.6642872473854643, 'yaw_rate': 0.0, 'effort': 0.4465186297479603, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.23859919431909, 'saturation': 0.0009259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 382.79296674658536, 'return': 8196.486920623083, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:15:09,696Z INFO validation {'vector': 'effort_shuffled', 'behavior': 'effort', 'alpha': -0.2, 'effect': {'behavior': 'effort', 'effect': -0.3205048703908299, 'ci95': [-0.43990868690228346, -0.23900073174288397], 'relative_effect': -0.4637580096509509, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.37059881670679895, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 6.864526764792754, 'effort': 0.37059881670679895, 'height': 0.6475810708470864, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0057777777777777775, 'bad_contact': 0.18044444444444446, 'planar_speed': 6.865609612050635, 'saturation': 0.0040185185185185185, 'reward': 6.642167474638393, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.0057777777777777775, 'bad_contact': 0.18044444444444446, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}}
+2026-09-07 23:15:10,625Z INFO episode phase=validation condition=effort_shuffled__-0.1000 seed=110003 metrics={'x_velocity': 10.85789629939867, 'y_velocity': 0.0, 'planar_speed': 10.85789629939867, 'height': 0.6750150920597278, 'yaw_rate': 0.0, 'effort': 0.5063178214513593, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.554105606671898, 'saturation': 0.0007407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 488.6053334729402, 'return': 10333.46697507972, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:15:10,641Z INFO episode phase=validation condition=effort_shuffled__-0.1000 seed=110000 metrics={'x_velocity': 11.08721778110213, 'y_velocity': 0.0, 'planar_speed': 11.08721778110213, 'height': 0.6764673249416879, 'yaw_rate': 0.0, 'effort': 0.5068886295540466, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.783084603679317, 'saturation': 0.0014814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 498.92480014959585, 'return': 10439.393185650268, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:15:10,657Z INFO episode phase=validation condition=effort_shuffled__-0.1000 seed=110002 metrics={'x_velocity': 10.965088968763581, 'y_velocity': 0.0, 'planar_speed': 10.965088968763581, 'height': 0.675275669771313, 'yaw_rate': 0.0, 'effort': 0.5065648176024358, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.661150078723661, 'saturation': 0.0007407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 493.4290035943612, 'return': 10359.253322475097, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:15:10,673Z INFO episode phase=validation condition=effort_shuffled__-0.1000 seed=110001 metrics={'x_velocity': 11.109884099569763, 'y_velocity': 0.0, 'planar_speed': 11.109884099569763, 'height': 0.6713368488623224, 'yaw_rate': 0.0, 'effort': 0.5080698558936516, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.805042186263712, 'saturation': 0.0009259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 499.9447844806394, 'return': 10407.400716768188, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:15:11,596Z INFO episode phase=validation condition=effort_shuffled__-0.1000 seed=110004 metrics={'x_velocity': 10.888676696733205, 'y_velocity': 0.0, 'planar_speed': 10.888676696733205, 'height': 0.6740660094871206, 'yaw_rate': 0.0, 'effort': 0.5049854160762496, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.585685447046066, 'saturation': 0.0005555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 489.9904513529942, 'return': 10312.28483277747, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:15:11,614Z INFO episode phase=validation condition=effort_shuffled__-0.1000 seed=110005 metrics={'x_velocity': 10.88855826448935, 'y_velocity': 0.0, 'planar_speed': 10.88855826448935, 'height': 0.6763404830026689, 'yaw_rate': 0.0, 'effort': 0.5037584499021371, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.58630319458118, 'saturation': 0.001296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 489.98512190202075, 'return': 10269.490736424767, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:15:11,630Z INFO episode phase=validation condition=effort_shuffled__-0.1000 seed=110006 metrics={'x_velocity': 11.19118252189408, 'y_velocity': 0.0, 'planar_speed': 11.19118252189408, 'height': 0.672282549514735, 'yaw_rate': 0.0, 'effort': 0.5044840850846635, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.888492070841627, 'saturation': 0.00037037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 503.6032134852336, 'return': 10558.581685989637, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:15:11,652Z INFO episode phase=validation condition=effort_shuffled__-0.1000 seed=110007 metrics={'x_velocity': 4.899837877785499, 'y_velocity': 0.0, 'planar_speed': 4.9063389460229825, 'height': 0.6208728120068279, 'yaw_rate': 0.0, 'effort': 0.24091833007935848, 'inversion': 0.013333333333333334, 'bad_contact': 0.5322222222222223, 'reward': 4.755286879865165, 'saturation': 0.004074074074074075, 'length': 1000.0, 'failure': 0.0, 'distance': 220.4927045003475, 'return': 5126.521185295243, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
diff --git a/experiments/hc-running-002/20260907T232032005899Z.log b/experiments/hc-running-002/20260907T232032005899Z.log
new file mode 100644
index 0000000000000000000000000000000000000000..38b8f5066c46deb06e8cae6480f25029d32a6758
--- /dev/null
+++ b/experiments/hc-running-002/20260907T232032005899Z.log
@@ -0,0 +1,582 @@
+2026-09-07 23:20:32,006Z INFO command={'command': 'run', 'model': 'halfcheetah', 'run_dir': WindowsPath('runs/hc-running-002'), 'stop_after': None}
+2026-09-07 23:20:32,048Z INFO Preparing halfcheetah revision=b4ce04da6f246f06ae4c4258b8ab39624e6600b4
+2026-09-07 23:20:32,104Z INFO Prepared halfcheetah sha256=8231919095d5a35a2b799e865e968feca535d5af3f40a4b092947c70a976b7e1 actor=Sequential(
+  (0): Linear(in_features=17, out_features=256, bias=True)
+  (1): ReLU()
+  (2): Linear(in_features=256, out_features=256, bias=True)
+  (3): ReLU()
+)
+2026-09-07 23:20:32,123Z INFO prepared manifest={'schema': 1, 'created_utc': '2026-09-07T23:05:23.662755+00:00', 'model_key': 'halfcheetah', 'config': {'torch_threads': 1, 'rollout_workers': 4, 'max_steps': 1000, 'warmup': 100, 'diagnostic_episodes': 16, 'fit_episodes': 64, 'validation_episodes': 10, 'confirmation_episodes': 30, 'replication_episodes': 30, 'seed_offset': 100000, 'fit_min_speed_fraction': 0.5}, 'seed_splits': {'diagnostic': [100000, 100001, 100002, 100003, 100004, 100005, 100006, 100007, 100008, 100009, 100010, 100011, 100012, 100013, 100014, 100015], 'fit': [101000, 101001, 101002, 101003, 101004, 101005, 101006, 101007, 101008, 101009, 101010, 101011, 101012, 101013, 101014, 101015, 101016, 101017, 101018, 101019, 101020, 101021, 101022, 101023, 101024, 101025, 101026, 101027, 101028, 101029, 101030, 101031, 101032, 101033, 101034, 101035, 101036, 101037, 101038, 101039, 101040, 101041, 101042, 101043, 101044, 101045, 101046, 101047, 101048, 101049, 101050, 101051, 101052, 101053, 101054, 101055, 101056, 101057, 101058, 101059, 101060, 101061, 101062, 101063], 'validation': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'confirmation': [120000, 120001, 120002, 120003, 120004, 120005, 120006, 120007, 120008, 120009, 120010, 120011, 120012, 120013, 120014, 120015, 120016, 120017, 120018, 120019, 120020, 120021, 120022, 120023, 120024, 120025, 120026, 120027, 120028, 120029], 'replication': [130000, 130001, 130002, 130003, 130004, 130005, 130006, 130007, 130008, 130009, 130010, 130011, 130012, 130013, 130014, 130015, 130016, 130017, 130018, 130019, 130020, 130021, 130022, 130023, 130024, 130025, 130026, 130027, 130028, 130029]}, 'provenance': {'env_id': 'HalfCheetah-v5', 'algorithm': 'TQC', 'repo_id': 'farama-minari/HalfCheetah-v5-TQC-medium', 'revision': 'b4ce04da6f246f06ae4c4258b8ab39624e6600b4', 'filename': 'halfcheetah-v5-TQC-medium.zip', 'sha256': '8231919095d5a35a2b799e865e968feca535d5af3f40a4b092947c70a976b7e1', 'model_key': 'halfcheetah', 'checkpoint_path': 'C:\\Users\\Happy\\Documents\\projects\\rl-locomotion-steering-vectors\\artifacts\\base\\halfcheetah\\halfcheetah-v5-TQC-medium.zip', 'layer': 'actor.latent_pi.1', 'hidden_dimension': 256, 'observation_shape': [17], 'action_shape': [6], 'parameter_sha256': '91fc57f64cc0bd3b2f35a89f11c1936a2c1f55ff30cd5b116b9fa1fea757acca'}, 'decisions': [{'time_utc': '2026-09-07T23:05:48.788589+00:00', 'question': 'Can sustained-running activation contrasts yield useful causal speed, effort, or posture control?', 'hypothesis': 'Removing near-stationary recovery windows prevents unwrapped rotation history from dominating the differences. A fitting-only half-median forward-speed floor should retain broad independent running contrasts.', 'source': 'reports/hc-classic-001-diagnostics.md; https://github.com/Farama-Foundation/Gymnasium/blob/v1.0.0/gymnasium/envs/mujoco/half_cheetah_v5.py', 'validation_specification': 'Same eight nonzero strengths, ten paired validation seeds110000-110009, all15vectors, action-bias controls forshortlist;30confirmation120000-120029and30replication130000-130029, no changed usefulness gates. All seedpartitionsfresh relative001.'}, {'time_utc': '2026-09-07T23:10:28.010858+00:00', 'decision': 'Adopt inference-only buffer_size=1 loader override and audited cache migration before calibration.', 'evidence': 'inference-memory-audit.json: unchanged policy hash and byte-for-byte equality of every saved array for diagnostic seed 100000 and fitting seeds 101000 and 101010. Replay array allocation reduced from 308000000 to 1540 bytes.', 'cache_scope': 'Only runtime_sha256 fields in diagnostic/fit condition identities were migrated; all original NPZ files and scientific outcomes are unchanged.'}, {'time_utc': '2026-09-07T23:19:14.777484+00:00', 'decision': 'Correct physical episode failure before selection or confirmation: an episode fails if its post-onset inversion or forbidden-contact fraction exceeds 5%, in addition to termination/prefix failure. Preserve pooled fractions and retain the existing maximum five-percentage-point increase in failure. Recompute all cached validation effects under this derived-analysis correction.', 'evidence': 'reports/hc-running-002-validation-inspection.md: one of ten episodes stalls on its head for400steps while pooled contact appears4.47%. The old74condition estimates remain in validation_pooled-quality-v1.json. No selection or confirmation exists.', 'source': 'https://gymnasium.farama.org/environments/mujoco/half_cheetah/; operational5%episode cutoffs are explicitly projectpilot heuristics.'}], 'software': {'numpy': '1.26.4', 'torch': '2.5.1+cpu', 'torchvision': '0.20.1+cpu', 'stable-baselines3': '2.4.1', 'sb3-contrib': '2.4.0', 'gymnasium': '1.0.0', 'mujoco': '3.1.5', 'baukit': '0.0.1'}}
+2026-09-07 23:20:33,396Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': -0.5, 'effect': {'behavior': 'speed', 'effect': -10.879896204558728, 'ci95': [-11.96824213822119, -10.035108478288024], 'relative_effect': -0.6477872264326878, 'baseline_mean': 16.795478145614943, 'treated_mean': 5.915581941056213, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 5.915581941056213, 'effort': 0.544264083231489, 'height': 0.668585906219543, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.07577777777777778, 'bad_contact': 0.09633333333333331, 'planar_speed': 5.92339468031813, 'saturation': 0.1173148148148148, 'reward': 5.589023491353007, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.07577777777777778, 'bad_contact': 0.09633333333333331, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:33,624Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': -0.2, 'effect': {'behavior': 'speed', 'effect': -5.747026875150166, 'ci95': [-7.060503118645253, -4.965547070310828], 'relative_effect': -0.34217703273012395, 'baseline_mean': 16.795478145614943, 'treated_mean': 11.048451270464776, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 11.048451270464776, 'effort': 0.6120406034486368, 'height': 0.6400197908054519, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.06155555555555555, 'bad_contact': 0.027222222222222224, 'planar_speed': 11.052706707111856, 'saturation': 0.08068518518518518, 'reward': 10.681226908469167, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.06155555555555555, 'bad_contact': 0.027222222222222224, 'failure': 0.1}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:33,820Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': -0.1, 'effect': {'behavior': 'speed', 'effect': -4.34953990928709, 'ci95': [-6.054552360905866, -3.0911363247747956], 'relative_effect': -0.25897088916296745, 'baseline_mean': 16.795478145614943, 'treated_mean': 12.445938236327851, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.445938236327851, 'effort': 0.5650997210460612, 'height': 0.6191739085703617, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.056555555555555546, 'bad_contact': 0.08411111111111111, 'planar_speed': 12.44696923294672, 'saturation': 0.03733333333333333, 'reward': 12.106878403632887, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.056555555555555546, 'bad_contact': 0.08411111111111111, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:33,886Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': -0.05, 'effect': {'behavior': 'speed', 'effect': -1.9767144927739069, 'ci95': [-3.5534729782458676, -1.1366097414799456], 'relative_effect': -0.11769325503186097, 'baseline_mean': 16.795478145614943, 'treated_mean': 14.818763652841033, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 14.818763652841033, 'effort': 0.5761776637128657, 'height': 0.6267310118109611, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.001, 'bad_contact': 0.04466666666666667, 'planar_speed': 14.819692860571285, 'saturation': 0.012870370370370369, 'reward': 14.473057054615051, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.001, 'bad_contact': 0.04466666666666667, 'failure': 0.1}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:34,097Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': 0.05, 'effect': {'behavior': 'speed', 'effect': -4.0003140574334655, 'ci95': [-5.114765784837226, -3.0848637166063644], 'relative_effect': -0.23817803951463506, 'baseline_mean': 16.795478145614943, 'treated_mean': 12.795164088181473, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.795164088181473, 'effort': 0.6130672588202482, 'height': 0.6153426812752499, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.03888888888888889, 'bad_contact': 0.0571111111111111, 'planar_speed': 12.79653639565809, 'saturation': 0.046574074074074066, 'reward': 12.42732373295392, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.03888888888888889, 'bad_contact': 0.0571111111111111, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:34,295Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': 0.1, 'effect': {'behavior': 'speed', 'effect': -8.228852632792393, 'ci95': [-10.483902028564723, -6.188394235942685], 'relative_effect': -0.4899445292029883, 'baseline_mean': 16.795478145614943, 'treated_mean': 8.566625512822547, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.566625512822547, 'effort': 0.5086864222650311, 'height': 0.5791035040414185, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.129, 'bad_contact': 0.20933333333333332, 'planar_speed': 8.590226627716905, 'saturation': 0.06105555555555555, 'reward': 8.261413659531744, 'failure': 0.5, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.129, 'bad_contact': 0.20933333333333332, 'failure': 0.5}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:34,536Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': 0.2, 'effect': {'behavior': 'speed', 'effect': -11.40882889389596, 'ci95': [-13.247518179530953, -9.548845807889986], 'relative_effect': -0.67927979155953, 'baseline_mean': 16.795478145614943, 'treated_mean': 5.386649251718981, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 5.386649251718981, 'effort': 0.5197444207263697, 'height': 0.49561168529676775, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.3044444444444444, 'bad_contact': 0.3292222222222222, 'planar_speed': 5.416621277479668, 'saturation': 0.16412962962962963, 'reward': 5.074802599214138, 'failure': 0.7, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.3044444444444444, 'bad_contact': 0.3292222222222222, 'failure': 0.7}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:34,731Z INFO validation {'vector': 'speed', 'behavior': 'speed', 'alpha': 0.5, 'effect': {'behavior': 'speed', 'effect': -14.54960502269588, 'ci95': [-15.003992026733043, -14.220133437992912], 'relative_effect': -0.8662810845009835, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.2458731229190585, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.2458731229190585, 'effort': 0.7253090391428108, 'height': 0.5301701171898994, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09866666666666665, 'bad_contact': 0.124, 'planar_speed': 2.4257769593881964, 'saturation': 0.3463703703703704, 'reward': 1.8106876994417334, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09866666666666665, 'bad_contact': 0.124, 'failure': 0.1}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:34,952Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': -0.5, 'effect': {'behavior': 'speed', 'effect': -13.912376431167624, 'ci95': [-14.678146041527674, -13.257881124642028], 'relative_effect': -0.8283405992106241, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.883101714447318, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.883101714447318, 'effort': 0.5302479280813908, 'height': 0.6020543723012124, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09533333333333334, 'bad_contact': 0.20299999999999999, 'planar_speed': 2.903167244258061, 'saturation': 0.16298148148148148, 'reward': 2.564952957562121, 'failure': 0.3, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09533333333333334, 'bad_contact': 0.20299999999999999, 'failure': 0.3}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:35,156Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': -0.2, 'effect': {'behavior': 'speed', 'effect': -10.658321785504992, 'ci95': [-12.71674811482625, -8.743994294829502], 'relative_effect': -0.6345947220495015, 'baseline_mean': 16.795478145614943, 'treated_mean': 6.13715636010995, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 6.13715636010995, 'effort': 0.3494556841423942, 'height': 0.5402691658482263, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.2371111111111111, 'bad_contact': 0.33777777777777773, 'planar_speed': 6.158719154843626, 'saturation': 0.03275925925925926, 'reward': 5.927482949643803, 'failure': 0.8, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.2371111111111111, 'bad_contact': 0.33777777777777773, 'failure': 0.8}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:35,373Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': -0.1, 'effect': {'behavior': 'speed', 'effect': -6.6626509799124936, 'ci95': [-10.281623652539176, -3.2437643727677723], 'relative_effect': -0.39669314098402225, 'baseline_mean': 16.795478145614943, 'treated_mean': 10.132827165702446, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.132827165702446, 'effort': 0.4266106183437836, 'height': 0.5689364474415693, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.12866666666666665, 'bad_contact': 0.26388888888888895, 'planar_speed': 10.147452636121285, 'saturation': 0.013981481481481478, 'reward': 9.876860794665795, 'failure': 0.5, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.12866666666666665, 'bad_contact': 0.26388888888888895, 'failure': 0.5}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:35,588Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': -0.05, 'effect': {'behavior': 'speed', 'effect': -0.10281791693786246, 'ci95': [-0.15058635878832582, -0.06669077026825639], 'relative_effect': -0.0061217618246079365, 'baseline_mean': 16.795478145614943, 'treated_mean': 16.692660228677077, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.692660228677077, 'effort': 0.6334470667044322, 'height': 0.6106159531187431, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.692660228677077, 'saturation': 0.000962962962962963, 'reward': 16.312591988778927, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:35,800Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': 0.05, 'effect': {'behavior': 'speed', 'effect': -1.1132008494792403, 'ci95': [-1.391298214882759, -0.8553999354419457], 'relative_effect': -0.0662797950631659, 'baseline_mean': 16.795478145614943, 'treated_mean': 15.6822772961357, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.6822772961357, 'effort': 0.6906524379998445, 'height': 0.6018622239604402, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 15.6822772961357, 'saturation': 0.030796296296296294, 'reward': 15.267885833255988, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:36,021Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': 0.1, 'effect': {'behavior': 'speed', 'effect': -4.133100005510114, 'ci95': [-5.425516815752882, -3.410051186302401], 'relative_effect': -0.24608409297291764, 'baseline_mean': 16.795478145614943, 'treated_mean': 12.662378140104824, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.662378140104824, 'effort': 0.654199710963087, 'height': 0.6395821127747479, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0014444444444444444, 'bad_contact': 0.043555555555555556, 'planar_speed': 12.663685515734896, 'saturation': 0.08683333333333333, 'reward': 12.269858313392573, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.0014444444444444444, 'bad_contact': 0.043555555555555556, 'failure': 0.1}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:36,222Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': 0.2, 'effect': {'behavior': 'speed', 'effect': -6.2345592784275485, 'ci95': [-6.393097425690517, -6.077560867451891], 'relative_effect': -0.3712046316499362, 'baseline_mean': 16.795478145614943, 'treated_mean': 10.560918867187391, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.560918867187391, 'effort': 0.7104582009133364, 'height': 0.6514079332441707, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.00011111111111111112, 'bad_contact': 0.00011111111111111112, 'planar_speed': 10.560918867187391, 'saturation': 0.1973888888888889, 'reward': 10.134643946746348, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.00011111111111111112, 'bad_contact': 0.00011111111111111112, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:36,431Z INFO validation {'vector': 'speed_random0', 'behavior': 'speed', 'alpha': 0.5, 'effect': {'behavior': 'speed', 'effect': -13.493044653956918, 'ci95': [-14.765558043832394, -12.014536643883073], 'relative_effect': -0.8033736543237239, 'baseline_mean': 16.795478145614943, 'treated_mean': 3.302433491658023, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 3.302433491658023, 'effort': 0.5380227613680375, 'height': 0.4397593048162146, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.41522222222222227, 'bad_contact': 0.3518888888888889, 'planar_speed': 3.345571738142593, 'saturation': 0.21968518518518515, 'reward': 2.979619835098188, 'failure': 0.6, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.41522222222222227, 'bad_contact': 0.3518888888888889, 'failure': 0.6}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:36,648Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': -0.5, 'effect': {'behavior': 'speed', 'effect': -14.71461001736103, 'ci95': [-15.371033441425084, -14.04616812093936], 'relative_effect': -0.8761054546817295, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.080868128253912, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.080868128253912, 'effort': 0.7490691679695415, 'height': 0.4378370989742469, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.18944444444444444, 'bad_contact': 0.15355555555555558, 'planar_speed': 2.2458694126428416, 'saturation': 0.46709259259259256, 'reward': 1.6314266274626668, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.18944444444444444, 'bad_contact': 0.15355555555555558, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:36,854Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': -0.2, 'effect': {'behavior': 'speed', 'effect': -8.838922526987439, 'ci95': [-10.887827776044832, -6.789203667385602], 'relative_effect': -0.5262679901313291, 'baseline_mean': 16.795478145614943, 'treated_mean': 7.9565556186275, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 7.9565556186275, 'effort': 0.5572832751098191, 'height': 0.5865031275723304, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09111111111111111, 'bad_contact': 0.3076666666666667, 'planar_speed': 7.960465601373469, 'saturation': 0.1991851851851852, 'reward': 7.622185653371247, 'failure': 0.6, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09111111111111111, 'bad_contact': 0.3076666666666667, 'failure': 0.6}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:37,064Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': -0.1, 'effect': {'behavior': 'speed', 'effect': -8.28914246642616, 'ci95': [-11.12309856189705, -5.421677477567307], 'relative_effect': -0.4935341759585651, 'baseline_mean': 16.795478145614943, 'treated_mean': 8.506335679188783, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.506335679188783, 'effort': 0.5359020903218124, 'height': 0.5805533922878527, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09311111111111112, 'bad_contact': 0.3393333333333334, 'planar_speed': 8.512328633902747, 'saturation': 0.16255555555555556, 'reward': 8.184794425036673, 'failure': 0.5, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09311111111111112, 'bad_contact': 0.3393333333333334, 'failure': 0.5}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:37,272Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': -0.05, 'effect': {'behavior': 'speed', 'effect': -0.13408266030619878, 'ci95': [-0.22555390891479057, -0.08292096733483434], 'relative_effect': -0.007983259490662718, 'baseline_mean': 16.795478145614943, 'treated_mean': 16.66139548530874, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.66139548530874, 'effort': 0.7311688378188346, 'height': 0.5924897247221433, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.00011111111111111112, 'planar_speed': 16.66139548530874, 'saturation': 0.03303703703703704, 'reward': 16.222694182414784, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.00011111111111111112, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:37,475Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': 0.05, 'effect': {'behavior': 'speed', 'effect': -0.6443267784107556, 'ci95': [-0.7366029504428313, -0.5646992508950719], 'relative_effect': -0.0383631101671839, 'baseline_mean': 16.795478145614943, 'treated_mean': 16.151151367204186, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.151151367204186, 'effort': 0.6072890433859495, 'height': 0.6121158185467686, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.151151367204186, 'saturation': 0.0026666666666666666, 'reward': 15.786777941184704, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:37,677Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': 0.1, 'effect': {'behavior': 'speed', 'effect': -1.7246096471374308, 'ci95': [-1.93418202266772, -1.571063782557717], 'relative_effect': -0.10268297408297967, 'baseline_mean': 16.795478145614943, 'treated_mean': 15.070868498477509, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.070868498477509, 'effort': 0.5287453942381674, 'height': 0.6210514255075364, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 15.070868498477509, 'saturation': 0.003388888888888889, 'reward': 14.753621262005804, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:37,884Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': 0.2, 'effect': {'behavior': 'speed', 'effect': -8.711091676077597, 'ci95': [-10.387506192381306, -7.801899999542288], 'relative_effect': -0.5186569623414942, 'baseline_mean': 16.795478145614943, 'treated_mean': 8.084386469537344, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.084386469537344, 'effort': 0.508442971365578, 'height': 0.6610377129236407, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0014444444444444444, 'bad_contact': 0.09033333333333333, 'planar_speed': 8.084761490129505, 'saturation': 0.051814814814814814, 'reward': 7.779320686837816, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.0014444444444444444, 'bad_contact': 0.09033333333333333, 'failure': 0.1}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:38,088Z INFO validation {'vector': 'speed_random1', 'behavior': 'speed', 'alpha': 0.5, 'effect': {'behavior': 'speed', 'effect': -14.453099468808597, 'ci95': [-15.036674833618626, -13.966202783920778], 'relative_effect': -0.8605351597317932, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.3423786768063435, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.3423786768063435, 'effort': 0.5805451985178903, 'height': 0.6515027209587904, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.004666666666666667, 'bad_contact': 0.2172222222222222, 'planar_speed': 2.3504006434315707, 'saturation': 0.21390740740740738, 'reward': 1.9940515578916131, 'failure': 0.3, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.004666666666666667, 'bad_contact': 0.2172222222222222, 'failure': 0.3}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:38,300Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': -0.5, 'effect': {'behavior': 'speed', 'effect': -14.456579176259648, 'ci95': [-15.315594503448539, -13.581741931031427], 'relative_effect': -0.8607423409397875, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.3388989693552906, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.3388989693552906, 'effort': 0.40089190932205465, 'height': 0.5585676349205205, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.2217777777777778, 'bad_contact': 0.367, 'planar_speed': 2.3937419093634023, 'saturation': 0.11194444444444444, 'reward': 2.098363823712413, 'failure': 0.6, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.2217777777777778, 'bad_contact': 0.367, 'failure': 0.6}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:38,525Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': -0.2, 'effect': {'behavior': 'speed', 'effect': -6.246398694553051, 'ci95': [-8.04215150949956, -4.8444713422162256], 'relative_effect': -0.3719095485342818, 'baseline_mean': 16.795478145614943, 'treated_mean': 10.549079451061889, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.549079451061889, 'effort': 0.5527207651559988, 'height': 0.6526713379384325, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.004333333333333333, 'bad_contact': 0.10477777777777779, 'planar_speed': 10.550798268071642, 'saturation': 0.08149999999999999, 'reward': 10.217446991996736, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.004333333333333333, 'bad_contact': 0.10477777777777779, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:38,734Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': -0.1, 'effect': {'behavior': 'speed', 'effect': -2.540440274432831, 'ci95': [-2.721957377132432, -2.3471073351871303], 'relative_effect': -0.1512573951397807, 'baseline_mean': 16.795478145614943, 'treated_mean': 14.255037871182108, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 14.255037871182108, 'effort': 0.6225934809417362, 'height': 0.645393159221235, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 14.255037871182108, 'saturation': 0.03618518518518518, 'reward': 13.881481782581554, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:38,931Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': -0.05, 'effect': {'behavior': 'speed', 'effect': -1.0334390431406786, 'ci95': [-1.1229268820893574, -0.9446634836223569], 'relative_effect': -0.06153079026276454, 'baseline_mean': 16.795478145614943, 'treated_mean': 15.762039102474262, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.762039102474262, 'effort': 0.637242581187023, 'height': 0.6255014591817886, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 15.762039102474262, 'saturation': 0.01990740740740741, 'reward': 15.379693553776951, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:39,145Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': 0.05, 'effect': {'behavior': 'speed', 'effect': -1.1625589334348667, 'ci95': [-1.3582218848158039, -0.9808205238690295], 'relative_effect': -0.06921856724504113, 'baseline_mean': 16.795478145614943, 'treated_mean': 15.632919212180076, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.632919212180076, 'effort': 0.6855399820423788, 'height': 0.5989796123156678, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 15.632919212180076, 'saturation': 0.02987037037037037, 'reward': 15.221595222872192, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:39,348Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': 0.1, 'effect': {'behavior': 'speed', 'effect': -4.161657683550503, 'ci95': [-6.643037714957438, -2.623472961290606], 'relative_effect': -0.24778441241561508, 'baseline_mean': 16.795478145614943, 'treated_mean': 12.633820462064438, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.633820462064438, 'effort': 0.5961979173425999, 'height': 0.5879994554434648, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.07888888888888888, 'bad_contact': 0.094, 'planar_speed': 12.63509421719489, 'saturation': 0.05344444444444445, 'reward': 12.276101711660862, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.07888888888888888, 'bad_contact': 0.094, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:39,552Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': 0.2, 'effect': {'behavior': 'speed', 'effect': -7.701661277957385, 'ci95': [-10.18696807492601, -5.373363058162158], 'relative_effect': -0.4585556428453439, 'baseline_mean': 16.795478145614943, 'treated_mean': 9.093816867657555, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 9.093816867657555, 'effort': 0.4383112577717337, 'height': 0.5852581562291717, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.07022222222222221, 'bad_contact': 0.2731111111111111, 'planar_speed': 9.103413010936524, 'saturation': 0.03961111111111111, 'reward': 8.830830112819262, 'failure': 0.6, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.07022222222222221, 'bad_contact': 0.2731111111111111, 'failure': 0.6}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:39,750Z INFO validation {'vector': 'speed_random2', 'behavior': 'speed', 'alpha': 0.5, 'effect': {'behavior': 'speed', 'effect': -14.716810216480075, 'ci95': [-15.36425068482246, -14.025134496081858], 'relative_effect': -0.8762364541745673, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.0786679291348653, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.0786679291348653, 'effort': 0.411877377204804, 'height': 0.4486020825705196, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.308, 'bad_contact': 0.4417777777777777, 'planar_speed': 2.2009410628170323, 'saturation': 0.12096296296296294, 'reward': 1.8315415028341693, 'failure': 0.9, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.308, 'bad_contact': 0.4417777777777777, 'failure': 0.9}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:39,954Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': -0.5, 'effect': {'behavior': 'speed', 'effect': -16.062433489414012, 'ci95': [-16.200052435586926, -15.871122819283055], 'relative_effect': -0.9563546420146235, 'baseline_mean': 16.795478145614943, 'treated_mean': 0.7330446562009294, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 0.7330446562009294, 'effort': 0.5333280413728725, 'height': 0.45359943299713174, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.19277777777777777, 'bad_contact': 0.3456666666666667, 'planar_speed': 0.8385947014833347, 'saturation': 0.34029629629629626, 'reward': 0.41304783135488526, 'failure': 0.5, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.19277777777777777, 'bad_contact': 0.3456666666666667, 'failure': 0.5}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:40,173Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': -0.2, 'effect': {'behavior': 'speed', 'effect': -14.063999523827093, 'ci95': [-14.732323861571361, -13.450550852168938], 'relative_effect': -0.8373682131520025, 'baseline_mean': 16.795478145614943, 'treated_mean': 2.731478621787849, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.731478621787849, 'effort': 0.5671931780977175, 'height': 0.5782007774703019, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09866666666666667, 'bad_contact': 0.19155555555555553, 'planar_speed': 2.778918032311175, 'saturation': 0.21885185185185185, 'reward': 2.391162714885033, 'failure': 0.3, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09866666666666667, 'bad_contact': 0.19155555555555553, 'failure': 0.3}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:40,376Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': -0.1, 'effect': {'behavior': 'speed', 'effect': -7.736439154187279, 'ci95': [-8.787006955698445, -7.029086736839179], 'relative_effect': -0.4606263118628243, 'baseline_mean': 16.795478145614943, 'treated_mean': 9.059038991427663, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 9.059038991427663, 'effort': 0.677802541723475, 'height': 0.6182590123123732, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.059666666666666666, 'bad_contact': 0.026444444444444448, 'planar_speed': 9.067020045858253, 'saturation': 0.16622222222222222, 'reward': 8.652357466406036, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.059666666666666666, 'bad_contact': 0.026444444444444448, 'failure': 0.1}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:40,575Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': -0.05, 'effect': {'behavior': 'speed', 'effect': -4.947780670597035, 'ci95': [-6.66632957388956, -3.6443242682573924], 'relative_effect': -0.2945900454694009, 'baseline_mean': 16.795478145614943, 'treated_mean': 11.847697475017906, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 11.847697475017906, 'effort': 0.6261617699262375, 'height': 0.610183704270894, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.055333333333333325, 'bad_contact': 0.08422222222222223, 'planar_speed': 11.84809822513034, 'saturation': 0.08451851851851852, 'reward': 11.47200041311173, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.055333333333333325, 'bad_contact': 0.08422222222222223, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:40,773Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': 0.05, 'effect': {'behavior': 'speed', 'effect': -3.628661190205105, 'ci95': [-5.674356072647067, -2.2026760545542996], 'relative_effect': -0.21604988906805825, 'baseline_mean': 16.795478145614943, 'treated_mean': 13.166816955409834, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 13.166816955409834, 'effort': 0.5407609909138539, 'height': 0.6225443122414014, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.05644444444444444, 'bad_contact': 0.06866666666666667, 'planar_speed': 13.17368214728678, 'saturation': 0.010666666666666666, 'reward': 12.842360360731655, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.05644444444444444, 'bad_contact': 0.06866666666666667, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:40,974Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': 0.1, 'effect': {'behavior': 'speed', 'effect': -4.792265809606013, 'ci95': [-4.902083291500529, -4.692045758863626], 'relative_effect': -0.28533071628313267, 'baseline_mean': 16.795478145614943, 'treated_mean': 12.003212336008925, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.003212336008925, 'effort': 0.5514704081234005, 'height': 0.6708590491329302, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 12.003212336008925, 'saturation': 0.012037037037037037, 'reward': 11.672330091139191, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:41,174Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': 0.2, 'effect': {'behavior': 'speed', 'effect': -9.940218574779873, 'ci95': [-11.526213123792477, -8.534735593523946], 'relative_effect': -0.5918389752646084, 'baseline_mean': 16.795478145614943, 'treated_mean': 6.8552595708350665, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 6.8552595708350665, 'effort': 0.44380337047825263, 'height': 0.5665967617089948, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.2302222222222222, 'bad_contact': 0.16155555555555554, 'planar_speed': 6.8860245218919385, 'saturation': 0.023425925925925923, 'reward': 6.588977548451257, 'failure': 0.5, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.2302222222222222, 'bad_contact': 0.16155555555555554, 'failure': 0.5}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:41,370Z INFO validation {'vector': 'speed_shuffled', 'behavior': 'speed', 'alpha': 0.5, 'effect': {'behavior': 'speed', 'effect': -15.832914495718015, 'ci95': [-15.959909373930401, -15.727426429601167], 'relative_effect': -0.9426891189669262, 'baseline_mean': 16.795478145614943, 'treated_mean': 0.9625636498969229, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 0.9625636498969229, 'effort': 0.20840823173667822, 'height': 0.26326329115898683, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.7366666666666666, 'bad_contact': 0.8233333333333335, 'planar_speed': 1.1105420958738113, 'saturation': 0.01985185185185185, 'reward': 0.8375187108273074, 'failure': 1.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.7366666666666666, 'bad_contact': 0.8233333333333335, 'failure': 1.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:41,578Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': -0.5, 'effect': {'behavior': 'effort', 'effect': 0.10611917088594698, 'ci95': [-0.04424262677186897, 0.25396081513522395], 'relative_effect': 0.15355028900454418, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.797222857983576, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 0.7776083664787696, 'effort': 0.797222857983576, 'height': 0.3745262258706262, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.28633333333333333, 'bad_contact': 0.10088888888888889, 'planar_speed': 0.8549450712101313, 'saturation': 0.5920925925925926, 'reward': 0.29927465190750535, 'failure': 0.3, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.28633333333333333, 'bad_contact': 0.10088888888888889, 'failure': 0.3}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:41,783Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': -0.2, 'effect': {'behavior': 'effort', 'effect': -0.2113647416051891, 'ci95': [-0.41411316527136494, -0.03596110349648583], 'relative_effect': -0.30583651274216195, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.47973894549243984, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 1.7396120302876927, 'effort': 0.47973894549243984, 'height': 0.5196853580046354, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.19777777777777777, 'bad_contact': 0.3292222222222222, 'planar_speed': 1.8213988490870787, 'saturation': 0.19718518518518519, 'reward': 1.451768662949098, 'failure': 0.4, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.19777777777777777, 'bad_contact': 0.3292222222222222, 'failure': 0.4}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:41,995Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': -0.1, 'effect': {'behavior': 'effort', 'effect': 0.004776261123518133, 'ci95': [-0.011708264831846829, 0.01516841998036121], 'relative_effect': 0.006911063003551033, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6958799482211471, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 7.545470806460796, 'effort': 0.6958799482211471, 'height': 0.6451338243414989, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.017555555555555553, 'bad_contact': 0.009999999999999998, 'planar_speed': 7.549137829260809, 'saturation': 0.20903703703703705, 'reward': 7.127942837779936, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.017555555555555553, 'bad_contact': 0.009999999999999998, 'failure': 0.1}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:42,201Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': -0.05, 'effect': {'behavior': 'effort', 'effect': -0.06774587615589715, 'ci95': [-0.19744999876500416, 0.009341358514502612], 'relative_effect': -0.09802563265203217, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6233578109417317, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 11.282860973637707, 'effort': 0.6233578109417317, 'height': 0.6054967407402341, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.05511111111111111, 'bad_contact': 0.09988888888888889, 'planar_speed': 11.29008856027829, 'saturation': 0.08929629629629629, 'reward': 10.90884628725382, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.05511111111111111, 'bad_contact': 0.09988888888888889, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:42,392Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': 0.05, 'effect': {'behavior': 'effort', 'effect': -0.15014246587755367, 'ci95': [-0.24166063388470152, -0.10033038710341276], 'relative_effect': -0.21725027471361727, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5409612212200752, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.484455871991644, 'effort': 0.5409612212200752, 'height': 0.6506739849746845, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.006, 'bad_contact': 0.07877777777777778, 'planar_speed': 12.4850649093813, 'saturation': 0.021574074074074075, 'reward': 12.159879139320383, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.006, 'bad_contact': 0.07877777777777778, 'failure': 0.1}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:42,585Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': 0.1, 'effect': {'behavior': 'effort', 'effect': -0.1623302453524537, 'ci95': [-0.2207101080922306, -0.1313695026930008], 'relative_effect': -0.23488551484101988, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5287734417451753, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.264385441342236, 'effort': 0.5287734417451753, 'height': 0.6299666010172973, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09322222222222222, 'bad_contact': 0.04688888888888889, 'planar_speed': 10.275527914322812, 'saturation': 0.016222222222222218, 'reward': 9.947121376172113, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09322222222222222, 'bad_contact': 0.04688888888888889, 'failure': 0.1}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:42,800Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': 0.2, 'effect': {'behavior': 'effort', 'effect': -0.3197884939444872, 'ci95': [-0.4399990004748519, -0.204726127961397], 'relative_effect': -0.4627214409569663, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.37131519315314165, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 3.9628686738340995, 'effort': 0.37131519315314165, 'height': 0.4876605660383978, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.315, 'bad_contact': 0.4101111111111111, 'planar_speed': 3.9901485314837886, 'saturation': 0.019537037037037037, 'reward': 3.7400795579521384, 'failure': 0.7, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.315, 'bad_contact': 0.4101111111111111, 'failure': 0.7}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:43,009Z INFO validation {'vector': 'effort', 'behavior': 'effort', 'alpha': 0.5, 'effect': {'behavior': 'effort', 'effect': -0.17683806882276099, 'ci95': [-0.2908009728918117, -0.07053338268643462], 'relative_effect': -0.25587776787216, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5142656182748679, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.6008974001843654, 'effort': 0.5142656182748679, 'height': 0.5544719045959099, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.159, 'bad_contact': 0.3387777777777778, 'planar_speed': 2.6510588241054927, 'saturation': 0.07655555555555556, 'reward': 2.2923380299106517, 'failure': 0.8, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.159, 'bad_contact': 0.3387777777777778, 'failure': 0.8}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:43,206Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': -0.5, 'effect': {'behavior': 'effort', 'effect': -0.1796613140364902, 'ci95': [-0.3382136978570423, -0.03834658360202907], 'relative_effect': -0.25996289325412075, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5114423730611387, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 4.807398067535237, 'effort': 0.5114423730611387, 'height': 0.611536390478874, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.08022222222222222, 'bad_contact': 0.2133333333333333, 'planar_speed': 4.826111193944348, 'saturation': 0.18316666666666664, 'reward': 4.5005326437920585, 'failure': 0.4, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.08022222222222222, 'bad_contact': 0.2133333333333333, 'failure': 0.4}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:43,392Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': -0.2, 'effect': {'behavior': 'effort', 'effect': -0.022178369714981994, 'ci95': [-0.027144368454131054, -0.01642143994093771], 'relative_effect': -0.0320912333836948, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6689253173826468, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 14.514271537899308, 'effort': 0.6689253173826468, 'height': 0.6349888770892157, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 14.514271537899308, 'saturation': 0.11668518518518518, 'reward': 14.112916347517569, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:43,579Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': -0.1, 'effect': {'behavior': 'effort', 'effect': 0.012501486806405882, 'ci95': [0.006953015806774256, 0.016983110051353747], 'relative_effect': 0.01808916236419942, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.7036051739040348, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.94424255629119, 'effort': 0.7036051739040348, 'height': 0.5963021240581143, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 15.94424255629119, 'saturation': 0.01188888888888889, 'reward': 15.522079451934527, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:43,759Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': -0.05, 'effect': {'behavior': 'effort', 'effect': 0.010626051117976487, 'ci95': [0.009825671258237608, 0.011433278545240531], 'relative_effect': 0.015375480288061892, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.7017297382156055, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.43010669180549, 'effort': 0.7017297382156055, 'height': 0.591741792080619, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.43010669180549, 'saturation': 0.010259259259259258, 'reward': 16.00906884880063, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:43,958Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': 0.05, 'effect': {'behavior': 'effort', 'effect': -0.08728803767367371, 'ci95': [-0.16180543998086622, -0.032282475141228915], 'relative_effect': -0.12630237589998988, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6038156494239553, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 13.616950577794332, 'effort': 0.6038156494239553, 'height': 0.587850725957638, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.08688888888888889, 'bad_contact': 0.06933333333333333, 'planar_speed': 13.627494295259208, 'saturation': 0.03481481481481481, 'reward': 13.25466118813909, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.08688888888888889, 'bad_contact': 0.06933333333333333, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:44,162Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': 0.1, 'effect': {'behavior': 'effort', 'effect': -0.09552905998989528, 'ci95': [-0.17511365547505103, -0.05328547843523429], 'relative_effect': -0.13822681281166474, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5955746271077336, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 13.11199400516556, 'effort': 0.5955746271077336, 'height': 0.6294704694945099, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0032222222222222222, 'bad_contact': 0.060888888888888895, 'planar_speed': 13.113495948812988, 'saturation': 0.05892592592592592, 'reward': 12.754649228899904, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.0032222222222222222, 'bad_contact': 0.060888888888888895, 'failure': 0.1}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:44,403Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': 0.2, 'effect': {'behavior': 'effort', 'effect': -0.2735730589975913, 'ci95': [-0.39931550607238386, -0.16000260395033336], 'relative_effect': -0.3958495144867386, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.4175306281000376, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.610887396325321, 'effort': 0.4175306281000376, 'height': 0.5887307912739659, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.08633333333333335, 'bad_contact': 0.28788888888888886, 'planar_speed': 8.625431145955002, 'saturation': 0.07294444444444444, 'reward': 8.360369019539224, 'failure': 0.5, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.08633333333333335, 'bad_contact': 0.28788888888888886, 'failure': 0.5}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:44,602Z INFO validation {'vector': 'effort_random0', 'behavior': 'effort', 'alpha': 0.5, 'effect': {'behavior': 'effort', 'effect': -0.2707805694449279, 'ci95': [-0.3975575767620104, -0.15038841718338025], 'relative_effect': -0.39180889134321173, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.420323117652701, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 3.367324645360573, 'effort': 0.420323117652701, 'height': 0.5416790360804662, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.23088888888888892, 'bad_contact': 0.3313333333333333, 'planar_speed': 3.4173812831305748, 'saturation': 0.12312962962962962, 'reward': 3.1151307746808703, 'failure': 0.7, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.23088888888888892, 'bad_contact': 0.3313333333333333, 'failure': 0.7}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:44,819Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': -0.5, 'effect': {'behavior': 'effort', 'effect': -0.2241550795916054, 'ci95': [-0.3520212729427343, -0.08940346644351053], 'relative_effect': -0.32434363146429007, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.4669486075060235, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 1.7315385244485768, 'effort': 0.4669486075060235, 'height': 0.4037036044796324, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.4331111111111111, 'bad_contact': 0.4614444444444444, 'planar_speed': 1.8368364006198192, 'saturation': 0.0801111111111111, 'reward': 1.4513693599510056, 'failure': 0.9, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.4331111111111111, 'bad_contact': 0.4614444444444444, 'failure': 0.9}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:45,028Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': -0.2, 'effect': {'behavior': 'effort', 'effect': -0.07815533871389926, 'ci95': [-0.14808957751790683, -0.034796110832432496], 'relative_effect': -0.11308771776652181, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6129483483837296, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 9.275009577991147, 'effort': 0.6129483483837296, 'height': 0.5827369577022776, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09255555555555554, 'bad_contact': 0.053666666666666675, 'planar_speed': 9.285081373810787, 'saturation': 0.07781481481481482, 'reward': 8.90724056899158, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09255555555555554, 'bad_contact': 0.053666666666666675, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:45,239Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': -0.1, 'effect': {'behavior': 'effort', 'effect': -0.04684092031212318, 'ci95': [-0.04929960768191764, -0.044062471118269324], 'relative_effect': -0.06777697932539924, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6442627667855059, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.741863187227695, 'effort': 0.6442627667855059, 'height': 0.6262574561728065, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 12.741863187227695, 'saturation': 0.045, 'reward': 12.355305527105315, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:45,444Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': -0.05, 'effect': {'behavior': 'effort', 'effect': -0.06981487086580859, 'ci95': [-0.07203213954745895, -0.06714800114076998], 'relative_effect': -0.10101938706043422, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6212888162318203, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 14.59187837481978, 'effort': 0.6212888162318203, 'height': 0.6275669241340274, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 14.59187837481978, 'saturation': 0.024777777777777777, 'reward': 14.219105085112806, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:45,664Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': 0.05, 'effect': {'behavior': 'effort', 'effect': -0.07425687287209763, 'ci95': [-0.16260128007282815, -0.028276187270631446], 'relative_effect': -0.10744679019721062, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6168468142255314, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 13.026996927902143, 'effort': 0.6168468142255314, 'height': 0.6298807876219559, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.003333333333333333, 'bad_contact': 0.06455555555555556, 'planar_speed': 13.027533048795584, 'saturation': 0.05118518518518518, 'reward': 12.656888839398363, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.003333333333333333, 'bad_contact': 0.06455555555555556, 'failure': 0.1}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:45,892Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': 0.1, 'effect': {'behavior': 'effort', 'effect': -0.06252185427625148, 'ci95': [-0.11818522250114218, -0.032945730522813084], 'relative_effect': -0.09046667735028205, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6285818328213775, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.021085016881356, 'effort': 0.6285818328213775, 'height': 0.613406866912808, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.06966666666666667, 'bad_contact': 0.032, 'planar_speed': 12.027262618701252, 'saturation': 0.07735185185185185, 'reward': 11.643935917212577, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.06966666666666667, 'bad_contact': 0.032, 'failure': 0.1}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:46,126Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': 0.2, 'effect': {'behavior': 'effort', 'effect': -0.1695726306009003, 'ci95': [-0.3129995099021717, -0.044727495155066986], 'relative_effect': -0.2453649629812286, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5215310564967287, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.133015347311131, 'effort': 0.5215310564967287, 'height': 0.646113573347794, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.011, 'bad_contact': 0.12133333333333333, 'planar_speed': 8.135042995726742, 'saturation': 0.10642592592592592, 'reward': 7.820096713470733, 'failure': 0.3, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.011, 'bad_contact': 0.12133333333333333, 'failure': 0.3}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:46,355Z INFO validation {'vector': 'effort_random1', 'behavior': 'effort', 'alpha': 0.5, 'effect': {'behavior': 'effort', 'effect': 0.08043659305696685, 'ci95': [0.027823483610132472, 0.14291135626655688], 'relative_effect': 0.11638860356073308, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.7715402801545957, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 1.6595597483339843, 'effort': 0.7715402801545957, 'height': 0.5188679038913623, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09755555555555555, 'bad_contact': 0.15522222222222223, 'planar_speed': 1.737308378698066, 'saturation': 0.4420185185185185, 'reward': 1.1966355804399915, 'failure': 0.3, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09755555555555555, 'bad_contact': 0.15522222222222223, 'failure': 0.3}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:46,588Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': -0.5, 'effect': {'behavior': 'effort', 'effect': -0.212192504651948, 'ci95': [-0.31503887011008985, -0.12167222773996188], 'relative_effect': -0.30703425348962515, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.478911182445681, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 5.40297573313484, 'effort': 0.478911182445681, 'height': 0.5574341656042971, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.25522222222222224, 'bad_contact': 0.1317777777777778, 'planar_speed': 5.453470206813678, 'saturation': 0.10794444444444444, 'reward': 5.115629023513929, 'failure': 0.4, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.25522222222222224, 'bad_contact': 0.1317777777777778, 'failure': 0.4}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:46,813Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': -0.2, 'effect': {'behavior': 'effort', 'effect': -0.2543661159728136, 'ci95': [-0.36721925330520877, -0.1529442623142024], 'relative_effect': -0.3680578192847646, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.43673757112481526, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 7.82677495337808, 'effort': 0.43673757112481526, 'height': 0.5712118401134143, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.178, 'bad_contact': 0.2657777777777778, 'planar_speed': 7.848554281490189, 'saturation': 0.05242592592592592, 'reward': 7.5647324106674265, 'failure': 0.6, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.178, 'bad_contact': 0.2657777777777778, 'failure': 0.6}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:47,038Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': -0.1, 'effect': {'behavior': 'effort', 'effect': -0.21239535666184706, 'ci95': [-0.3510666026440113, -0.08714864533028263], 'relative_effect': -0.30732777241259746, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.47870833043578187, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 9.633206250956981, 'effort': 0.47870833043578187, 'height': 0.5861633415341532, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.12422222222222223, 'bad_contact': 0.2437777777777778, 'planar_speed': 9.638849624440944, 'saturation': 0.047111111111111104, 'reward': 9.345981252572765, 'failure': 0.4, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.12422222222222223, 'bad_contact': 0.2437777777777778, 'failure': 0.4}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:47,259Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': -0.05, 'effect': {'behavior': 'effort', 'effect': -0.25408965827090046, 'ci95': [-0.40373500719832306, -0.1117331949838906], 'relative_effect': -0.36765779580482316, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.43701402882672846, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 9.42515287053068, 'effort': 0.43701402882672846, 'height': 0.6096435686065621, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.009222222222222224, 'bad_contact': 0.31733333333333336, 'planar_speed': 9.428870819346255, 'saturation': 0.030777777777777775, 'reward': 9.16294445322806, 'failure': 0.5, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.009222222222222224, 'bad_contact': 0.31733333333333336, 'failure': 0.5}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:47,498Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': 0.05, 'effect': {'behavior': 'effort', 'effect': -0.05014882949325776, 'ci95': [-0.05094408559484618, -0.04928821756069862], 'relative_effect': -0.07256339450866434, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6409548576043711, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.289422440716017, 'effort': 0.6409548576043711, 'height': 0.6139868956594842, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.289422440716017, 'saturation': 0.00011111111111111112, 'reward': 15.904849526163327, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:47,740Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': 0.1, 'effect': {'behavior': 'effort', 'effect': -0.08397663739820324, 'ci95': [-0.08767340913340455, -0.07971297896206381], 'relative_effect': -0.12151090923978859, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6071270496994258, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 14.380358342289375, 'effort': 0.6071270496994258, 'height': 0.6293281746337226, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 14.380358342289375, 'saturation': 0.014851851851851852, 'reward': 14.01608211238462, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:47,976Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': 0.2, 'effect': {'behavior': 'effort', 'effect': -0.11215568612262401, 'ci95': [-0.20242209051692367, -0.027723203551313958], 'relative_effect': -0.16228489041005553, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5789480009750049, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.524141589357873, 'effort': 0.5789480009750049, 'height': 0.5679097887244601, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.14244444444444443, 'bad_contact': 0.14166666666666666, 'planar_speed': 8.54260675972272, 'saturation': 0.09805555555555555, 'reward': 8.176772788773896, 'failure': 0.4, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.14244444444444443, 'bad_contact': 0.14166666666666666, 'failure': 0.4}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:48,210Z INFO validation {'vector': 'effort_random2', 'behavior': 'effort', 'alpha': 0.5, 'effect': {'behavior': 'effort', 'effect': -0.3068646161261842, 'ci95': [-0.45485914818819667, -0.16301145739025677], 'relative_effect': -0.4440210953220322, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.3842390709714446, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 1.1215323995387547, 'effort': 0.3842390709714446, 'height': 0.4905361727827987, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.35888888888888887, 'bad_contact': 0.648, 'planar_speed': 1.1935462324691941, 'saturation': 0.12335185185185185, 'reward': 0.890988957014437, 'failure': 1.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.35888888888888887, 'bad_contact': 0.648, 'failure': 1.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:48,431Z INFO validation {'vector': 'effort_shuffled', 'behavior': 'effort', 'alpha': -0.5, 'effect': {'behavior': 'effort', 'effect': -0.40069543601086155, 'ci95': [-0.5358091460352168, -0.23729093104149487], 'relative_effect': -0.5797906211347664, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.2904082510867674, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 1.2337857284409692, 'effort': 0.2904082510867674, 'height': 0.5191896465450387, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.188, 'bad_contact': 0.41211111111111104, 'planar_speed': 1.2639129487080374, 'saturation': 0.03911111111111111, 'reward': 1.059540777808984, 'failure': 0.6, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.188, 'bad_contact': 0.41211111111111104, 'failure': 0.6}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:48,663Z INFO validation {'vector': 'effort_shuffled', 'behavior': 'effort', 'alpha': -0.2, 'effect': {'behavior': 'effort', 'effect': -0.3205048703908299, 'ci95': [-0.43990868690228346, -0.23900073174288397], 'relative_effect': -0.4637580096509509, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.37059881670679895, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 6.864526764792754, 'effort': 0.37059881670679895, 'height': 0.6475810708470864, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0057777777777777775, 'bad_contact': 0.18044444444444446, 'planar_speed': 6.865609612050635, 'saturation': 0.0040185185185185185, 'reward': 6.642167474638393, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.0057777777777777775, 'bad_contact': 0.18044444444444446, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:57,166Z INFO episode phase=validation condition=effort_shuffled__-0.1000 seed=110008 metrics={'x_velocity': 10.815224741933957, 'y_velocity': 0.0, 'planar_speed': 10.815224741933957, 'height': 0.6744987009117637, 'yaw_rate': 0.0, 'effort': 0.5054659169250064, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.511945191447817, 'saturation': 0.00037037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 486.685113387028, 'return': 10251.708499871273, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:20:57,179Z INFO episode phase=validation condition=effort_shuffled__-0.1000 seed=110009 metrics={'x_velocity': 11.0633823252799, 'y_velocity': 0.0, 'planar_speed': 11.0633823252799, 'height': 0.6784262544529136, 'yaw_rate': 0.0, 'effort': 0.5027759938314557, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.761716728884169, 'saturation': 0.0011111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 497.85220463759555, 'return': 10467.292701731656, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:20:57,196Z INFO validation {'vector': 'effort_shuffled', 'behavior': 'effort', 'alpha': -0.1, 'effect': {'behavior': 'effort', 'effect': -0.21208075545759258, 'ci95': [-0.26551885024314337, -0.18450768377249027], 'relative_effect': -0.30687255677690073, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.4790229316400364, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.376694957695014, 'effort': 0.4790229316400364, 'height': 0.6694581745011081, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0013333333333333335, 'bad_contact': 0.053222222222222226, 'planar_speed': 10.377345064518762, 'saturation': 0.0011666666666666668, 'reward': 10.089281198800462, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.0013333333333333335, 'bad_contact': 0.053222222222222226, 'failure': 0.1}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:20:58,085Z INFO episode phase=validation condition=effort_shuffled__-0.0500 seed=110001 metrics={'x_velocity': 13.969225803853641, 'y_velocity': 0.0, 'planar_speed': 13.969225803853641, 'height': 0.6539541417976875, 'yaw_rate': 0.0, 'effort': 0.5620931450194783, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.631969916848579, 'saturation': 0.00648148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 628.615161173414, 'return': 12951.635674294568, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:20:58,105Z INFO episode phase=validation condition=effort_shuffled__-0.0500 seed=110000 metrics={'x_velocity': 13.864917871381667, 'y_velocity': 0.0, 'planar_speed': 13.864917871381667, 'height': 0.6518582279099251, 'yaw_rate': 0.0, 'effort': 0.5677494186328517, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.524268220072813, 'saturation': 0.007407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 623.9213042121751, 'return': 12906.458440404416, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:20:58,976Z INFO episode phase=validation condition=effort_shuffled__-0.0500 seed=110002 metrics={'x_velocity': 13.810801449746485, 'y_velocity': 0.0, 'planar_speed': 13.810801449746485, 'height': 0.6569549420424824, 'yaw_rate': 0.0, 'effort': 0.5680013427966171, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.470000644018846, 'saturation': 0.007777777777777777, 'length': 1000.0, 'failure': 0.0, 'distance': 621.4860652385919, 'return': 12887.218831240758, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:20:58,993Z INFO episode phase=validation condition=effort_shuffled__-0.0500 seed=110003 metrics={'x_velocity': 14.138700837752925, 'y_velocity': 0.0, 'planar_speed': 14.138700837752925, 'height': 0.6547910533230207, 'yaw_rate': 0.0, 'effort': 0.5634166594449844, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.800650842168304, 'saturation': 0.0059259259259259265, 'length': 1000.0, 'failure': 0.0, 'distance': 636.2415376988816, 'return': 13255.357687026484, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:20:59,837Z INFO episode phase=validation condition=effort_shuffled__-0.0500 seed=110004 metrics={'x_velocity': 14.223523255172145, 'y_velocity': 0.0, 'planar_speed': 14.223523255172145, 'height': 0.6505312891313497, 'yaw_rate': 0.0, 'effort': 0.5637731075783571, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.885259390548969, 'saturation': 0.005925925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 640.0585464827466, 'return': 13281.901381930085, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:20:59,860Z INFO episode phase=validation condition=effort_shuffled__-0.0500 seed=110005 metrics={'x_velocity': 13.794561640269595, 'y_velocity': 0.0, 'planar_speed': 13.794561640269595, 'height': 0.6548515003921362, 'yaw_rate': 0.0, 'effort': 0.5696828286846479, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.452751942932974, 'saturation': 0.009074074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 620.7552738121318, 'return': 12849.294609941382, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:00,730Z INFO episode phase=validation condition=effort_shuffled__-0.0500 seed=110006 metrics={'x_velocity': 14.162853211990457, 'y_velocity': 0.0, 'planar_speed': 14.162853211990457, 'height': 0.6506680846869596, 'yaw_rate': 0.0, 'effort': 0.5675131107701196, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.822345345674085, 'saturation': 0.006666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 637.3283945395706, 'return': 13199.049633338851, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:00,767Z INFO episode phase=validation condition=effort_shuffled__-0.0500 seed=110007 metrics={'x_velocity': 14.207913777461284, 'y_velocity': 0.0, 'planar_speed': 14.207913777461284, 'height': 0.6462020666804447, 'yaw_rate': 0.0, 'effort': 0.5647726330161095, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.869050198254289, 'saturation': 0.0062962962962962955, 'length': 1000.0, 'failure': 0.0, 'distance': 639.3561199857578, 'return': 13328.908171845454, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:01,640Z INFO episode phase=validation condition=effort_shuffled__-0.0500 seed=110008 metrics={'x_velocity': 14.090162407333068, 'y_velocity': 0.0, 'planar_speed': 14.090162407333068, 'height': 0.6503983508970155, 'yaw_rate': 0.0, 'effort': 0.5670769105272161, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.749916261501854, 'saturation': 0.004259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 634.0573083299881, 'return': 13165.882462919908, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:01,682Z INFO episode phase=validation condition=effort_shuffled__-0.0500 seed=110009 metrics={'x_velocity': 14.236889485090162, 'y_velocity': 0.0, 'planar_speed': 14.236889485090162, 'height': 0.6474564101568823, 'yaw_rate': 0.0, 'effort': 0.5653197973304325, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.897697606374008, 'saturation': 0.0062962962962962955, 'length': 1000.0, 'failure': 0.0, 'distance': 640.6600268290573, 'return': 13289.675491472513, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:01,697Z INFO validation {'vector': 'effort_shuffled', 'behavior': 'effort', 'alpha': -0.05, 'effect': {'behavior': 'effort', 'effect': -0.12516379171754752, 'ci95': [-0.12705215995739114, -0.1234276268479518], 'relative_effect': -0.18110711034285978, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5659398953800815, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 14.049954974005143, 'effort': 0.5659398953800815, 'height': 0.6517666067017904, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 14.049954974005143, 'saturation': 0.006611111111111111, 'reward': 13.710391036839471, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:02,639Z INFO episode phase=validation condition=effort_shuffled__+0.0500 seed=110000 metrics={'x_velocity': 12.267379087171758, 'y_velocity': 0.0, 'planar_speed': 12.267379087171758, 'height': 0.6373176976292726, 'yaw_rate': 0.0, 'effort': 0.6990092687805494, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.847973525949788, 'saturation': 0.11611111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 552.0320589227291, 'return': 11397.793215693691, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:02,678Z INFO episode phase=validation condition=effort_shuffled__+0.0500 seed=110001 metrics={'x_velocity': 8.519129040621273, 'y_velocity': 0.0, 'planar_speed': 8.562865893883135, 'height': 0.4954208452660625, 'yaw_rate': 0.0, 'effort': 0.5536283227408098, 'inversion': 0.35888888888888887, 'bad_contact': 0.15333333333333332, 'reward': 8.186952046884484, 'saturation': 0.08018518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 383.3608068279573, 'return': 8051.11959132688, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:03,573Z INFO episode phase=validation condition=effort_shuffled__+0.0500 seed=110002 metrics={'x_velocity': 12.270657879376191, 'y_velocity': 0.0, 'planar_speed': 12.270657879376191, 'height': 0.6360285284035972, 'yaw_rate': 0.0, 'effort': 0.7023720010121663, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.84923467944441, 'saturation': 0.1137037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 552.1796045719286, 'return': 11428.529463123767, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:03,597Z INFO episode phase=validation condition=effort_shuffled__+0.0500 seed=110003 metrics={'x_velocity': 3.078055607315868, 'y_velocity': 0.0, 'planar_speed': 3.088892886269583, 'height': 0.5813111556882925, 'yaw_rate': 0.0, 'effort': 0.16535828632095623, 'inversion': 0.013333333333333334, 'bad_contact': 0.7411111111111112, 'reward': 2.978840635372833, 'saturation': 0.0212962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 138.51250232921404, 'return': 3515.7285009105603, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:04,499Z INFO episode phase=validation condition=effort_shuffled__+0.0500 seed=110004 metrics={'x_velocity': 11.976215805084744, 'y_velocity': 0.0, 'planar_speed': 11.976215805084744, 'height': 0.6434535114062073, 'yaw_rate': 0.0, 'effort': 0.7017540381517675, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.555163381991688, 'saturation': 0.11759259259259261, 'length': 1000.0, 'failure': 0.0, 'distance': 538.9297112288135, 'return': 11184.814974228533, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:04,542Z INFO episode phase=validation condition=effort_shuffled__+0.0500 seed=110005 metrics={'x_velocity': 12.809110818439317, 'y_velocity': 0.0, 'planar_speed': 12.809110818439317, 'height': 0.630069501988507, 'yaw_rate': 0.0, 'effort': 0.6974559974504841, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.39063722031672, 'saturation': 0.11574074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 576.4099868297693, 'return': 11893.391359586753, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:05,397Z INFO episode phase=validation condition=effort_shuffled__+0.0500 seed=110006 metrics={'x_velocity': 12.934461256070572, 'y_velocity': 0.0, 'planar_speed': 12.934461256070572, 'height': 0.6310180929299201, 'yaw_rate': 0.0, 'effort': 0.6944063051707214, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.517817472911847, 'saturation': 0.11481481481481483, 'length': 1000.0, 'failure': 0.0, 'distance': 582.0507565231758, 'return': 12024.974547852835, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:05,444Z INFO episode phase=validation condition=effort_shuffled__+0.0500 seed=110007 metrics={'x_velocity': 12.359254058676392, 'y_velocity': 0.0, 'planar_speed': 12.359254058676392, 'height': 0.6334845525222108, 'yaw_rate': 0.0, 'effort': 0.6965941782544056, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.941297551927399, 'saturation': 0.11925925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 556.1664326404376, 'return': 11593.930790151255, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:05,588Z INFO episode phase=validation condition=effort_shuffled__+0.0500 seed=110009 metrics={'x_velocity': 6.504505761156172, 'y_velocity': 0.0, 'planar_speed': 6.517661807045041, 'height': 0.6024196325561705, 'yaw_rate': 0.0, 'effort': 0.3449253035005596, 'inversion': 0.03111111111111111, 'bad_contact': 0.4766666666666667, 'reward': 6.297550579006165, 'saturation': 0.05018518518518517, 'length': 1000.0, 'failure': 0.0, 'distance': 292.70275925202776, 'return': 6449.543166841452, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:05,614Z INFO episode phase=validation condition=effort_shuffled__+0.0500 seed=110008 metrics={'x_velocity': 12.97160409226562, 'y_velocity': 0.0, 'planar_speed': 12.97160409226562, 'height': 0.6203157061904565, 'yaw_rate': 0.0, 'effort': 0.6990695230000549, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.5521623781775, 'saturation': 0.1111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 583.722184151953, 'return': 12087.903967927989, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:05,625Z INFO validation {'vector': 'effort_shuffled', 'behavior': 'effort', 'alpha': 0.05, 'effect': {'behavior': 'effort', 'effect': -0.09564636465938145, 'ci95': [-0.22003735200729121, -0.00503694758326233], 'relative_effect': -0.13839654807957918, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.5954573224382474, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.56903734061779, 'effort': 0.5954573224382474, 'height': 0.6110839224580698, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.040333333333333325, 'bad_contact': 0.13711111111111113, 'planar_speed': 10.575810358428235, 'saturation': 0.096, 'reward': 10.211762947198284, 'failure': 0.3, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.040333333333333325, 'bad_contact': 0.13711111111111113, 'failure': 0.3}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:06,531Z INFO episode phase=validation condition=effort_shuffled__+0.1000 seed=110003 metrics={'x_velocity': 8.553251487538978, 'y_velocity': 0.0, 'planar_speed': 8.553251487538978, 'height': 0.6574355256261089, 'yaw_rate': 0.0, 'effort': 0.7156238629420598, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.123877169906196, 'saturation': 0.22833333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 384.896316939254, 'return': 8146.261381990587, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:06,547Z INFO episode phase=validation condition=effort_shuffled__+0.1000 seed=110001 metrics={'x_velocity': 7.803166512692908, 'y_velocity': 0.0, 'planar_speed': 7.803166512692908, 'height': 0.6563223184619291, 'yaw_rate': 0.0, 'effort': 0.7112251019560628, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.3764314514845015, 'saturation': 0.24148148148148146, 'length': 1000.0, 'failure': 0.0, 'distance': 351.14249307118087, 'return': 7321.651055466898, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:06,563Z INFO episode phase=validation condition=effort_shuffled__+0.1000 seed=110002 metrics={'x_velocity': 7.0273708907972265, 'y_velocity': 0.0, 'planar_speed': 7.0273708907972265, 'height': 0.642916622827869, 'yaw_rate': 0.0, 'effort': 0.7001243267622259, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 6.60729629447167, 'saturation': 0.23407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 316.23169008587524, 'return': 6710.784916648303, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:06,577Z INFO episode phase=validation condition=effort_shuffled__+0.1000 seed=110000 metrics={'x_velocity': 8.394207380603325, 'y_velocity': 0.0, 'planar_speed': 8.394207380603325, 'height': 0.6477359466418136, 'yaw_rate': 0.0, 'effort': 0.7152228239013089, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.965073686828784, 'saturation': 0.23629629629629628, 'length': 1000.0, 'failure': 0.0, 'distance': 377.7393321271497, 'return': 7903.183360484789, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:07,414Z INFO episode phase=validation condition=effort_shuffled__+0.1000 seed=110004 metrics={'x_velocity': 0.7220578993070338, 'y_velocity': 0.0, 'planar_speed': 0.7352918934639946, 'height': 0.564245707145112, 'yaw_rate': 0.0, 'effort': 0.05235309530877405, 'inversion': 0.03333333333333333, 'bad_contact': 0.9077777777777778, 'reward': 0.6906460421664729, 'saturation': 0.007407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 32.49260546881652, 'return': 1406.749368385838, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:07,433Z INFO episode phase=validation condition=effort_shuffled__+0.1000 seed=110007 metrics={'x_velocity': 7.491422013419898, 'y_velocity': 0.0, 'planar_speed': 7.491422013419898, 'height': 0.6453991929999001, 'yaw_rate': 0.0, 'effort': 0.7151384501490328, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.062338943049012, 'saturation': 0.24148148148148146, 'length': 1000.0, 'failure': 0.0, 'distance': 337.11399060389545, 'return': 7202.868042160706, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:07,447Z INFO episode phase=validation condition=effort_shuffled__+0.1000 seed=110006 metrics={'x_velocity': 2.7876870585122613, 'y_velocity': 0.0, 'planar_speed': 2.8887387521741372, 'height': 0.3314492774387933, 'yaw_rate': 0.0, 'effort': 0.40489370559445687, 'inversion': 0.7533333333333333, 'bad_contact': 0.38, 'reward': 2.5447508350500367, 'saturation': 0.06592592592592593, 'length': 1000.0, 'failure': 0.0, 'distance': 125.44591763305175, 'return': 3049.2145737772053, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:07,459Z INFO episode phase=validation condition=effort_shuffled__+0.1000 seed=110005 metrics={'x_velocity': 7.652386464205157, 'y_velocity': 0.0, 'planar_speed': 7.652386464205157, 'height': 0.657834839081188, 'yaw_rate': 0.0, 'effort': 0.7086694698035717, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 7.227184782485271, 'saturation': 0.23666666666666666, 'length': 1000.0, 'failure': 0.0, 'distance': 344.3573908892321, 'return': 7246.284165538449, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:08,307Z INFO episode phase=validation condition=effort_shuffled__+0.1000 seed=110008 metrics={'x_velocity': 7.472992889098833, 'y_velocity': 0.0, 'planar_speed': 7.472992889098833, 'height': 0.6372551545516184, 'yaw_rate': 0.0, 'effort': 0.7147268094950252, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 7.044156804070714, 'saturation': 0.24462962962962964, 'length': 1000.0, 'failure': 0.0, 'distance': 336.2846800094475, 'return': 7130.698951231881, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:08,341Z INFO episode phase=validation condition=effort_shuffled__+0.1000 seed=110009 metrics={'x_velocity': 7.7189033500071975, 'y_velocity': 0.0, 'planar_speed': 7.7189033500071975, 'height': 0.6462886411114447, 'yaw_rate': 0.0, 'effort': 0.7094725731677479, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 7.293219805940979, 'saturation': 0.2435185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 347.3506507503239, 'return': 7345.645471082786, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:08,357Z INFO validation {'vector': 'effort_shuffled', 'behavior': 'effort', 'alpha': 0.1, 'effect': {'behavior': 'effort', 'effect': -0.07635866518960234, 'ci95': [-0.23708152121433784, 0.020999019130898817], 'relative_effect': -0.11048800146079313, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6147450219080266, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 6.562344594618281, 'effort': 0.6147450219080266, 'height': 0.6086883225885777, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.07866666666666666, 'bad_contact': 0.1291111111111111, 'planar_speed': 6.573773163400165, 'saturation': 0.19798148148148148, 'reward': 6.193497581545364, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.07866666666666666, 'bad_contact': 0.1291111111111111, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:09,280Z INFO episode phase=validation condition=effort_shuffled__+0.2000 seed=110003 metrics={'x_velocity': 1.9207229153125795, 'y_velocity': 0.0, 'planar_speed': 2.0678451801530335, 'height': 0.584636303770467, 'yaw_rate': 0.0, 'effort': 0.7260940205885305, 'inversion': 0.0, 'bad_contact': 0.01, 'reward': 1.4850665031150956, 'saturation': 0.3511111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 86.43253118906608, 'return': 2171.3317818785963, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:09,298Z INFO episode phase=validation condition=effort_shuffled__+0.2000 seed=110000 metrics={'x_velocity': 1.4420810124939207, 'y_velocity': 0.0, 'planar_speed': 1.5636306253931302, 'height': 0.5543915419792225, 'yaw_rate': 0.0, 'effort': 0.7397431913349364, 'inversion': 0.0, 'bad_contact': 0.0044444444444444444, 'reward': 0.998235097918132, 'saturation': 0.4114814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 64.89364556222644, 'return': 1633.0286304652022, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:09,316Z INFO episode phase=validation condition=effort_shuffled__+0.2000 seed=110002 metrics={'x_velocity': 1.4700397114831822, 'y_velocity': 0.0, 'planar_speed': 1.5987845257667217, 'height': 0.23053155571043954, 'yaw_rate': 0.0, 'effort': 0.38503083558960094, 'inversion': 0.9622222222222222, 'bad_contact': 0.40555555555555556, 'reward': 1.2390212100772675, 'saturation': 0.020555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 66.1517870167432, 'return': 1879.3373406933401, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:09,330Z INFO episode phase=validation condition=effort_shuffled__+0.2000 seed=110001 metrics={'x_velocity': 2.08028302004844, 'y_velocity': 0.0, 'planar_speed': 2.139000692703469, 'height': 0.5738460131760292, 'yaw_rate': 0.0, 'effort': 0.7407271303402053, 'inversion': 0.0, 'bad_contact': 0.0044444444444444444, 'reward': 1.6358467413277433, 'saturation': 0.3812962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 93.6127359021798, 'return': 2155.124816325815, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:10,267Z INFO episode phase=validation condition=effort_shuffled__+0.2000 seed=110004 metrics={'x_velocity': 1.2663972316588252, 'y_velocity': 0.0, 'planar_speed': 1.361706115267663, 'height': 0.6231563490858083, 'yaw_rate': 0.0, 'effort': 0.6660440433687634, 'inversion': 0.0, 'bad_contact': 0.47888888888888886, 'reward': 0.866770805054766, 'saturation': 0.27518518518518514, 'length': 1000.0, 'failure': 0.0, 'distance': 56.987875424647136, 'return': 1565.2616549853012, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:10,281Z INFO episode phase=validation condition=effort_shuffled__+0.2000 seed=110005 metrics={'x_velocity': 1.8042852118491177, 'y_velocity': 0.0, 'planar_speed': 1.919189899850078, 'height': 0.5679341972620128, 'yaw_rate': 0.0, 'effort': 0.7304802420073085, 'inversion': 0.0, 'bad_contact': 0.017777777777777778, 'reward': 1.3659970671017014, 'saturation': 0.39, 'length': 1000.0, 'failure': 0.0, 'distance': 81.1928345332103, 'return': 1971.215221693236, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:10,296Z INFO episode phase=validation condition=effort_shuffled__+0.2000 seed=110007 metrics={'x_velocity': 2.0464148595758886, 'y_velocity': 0.0, 'planar_speed': 2.1630796555645104, 'height': 0.607385107835004, 'yaw_rate': 0.0, 'effort': 0.7130231465068129, 'inversion': 0.0, 'bad_contact': 0.0077777777777777776, 'reward': 1.6186009716883578, 'saturation': 0.3279629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 92.088668680915, 'return': 2303.5038679361182, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:10,312Z INFO episode phase=validation condition=effort_shuffled__+0.2000 seed=110006 metrics={'x_velocity': 1.7312564344942996, 'y_velocity': 0.0, 'planar_speed': 1.9505727333889065, 'height': 0.6171891891578712, 'yaw_rate': 0.0, 'effort': 0.7156380869448185, 'inversion': 0.0, 'bad_contact': 0.023333333333333334, 'reward': 1.3018735829400117, 'saturation': 0.34148148148148144, 'length': 1000.0, 'failure': 0.0, 'distance': 77.90653955224349, 'return': 1930.625046878183, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:11,259Z INFO episode phase=validation condition=effort_shuffled__+0.2000 seed=110009 metrics={'x_velocity': 1.5587990602161121, 'y_velocity': 0.0, 'planar_speed': 1.6827421688565545, 'height': 0.2377602370864117, 'yaw_rate': 0.0, 'effort': 0.39780305864910287, 'inversion': 0.9277777777777778, 'bad_contact': 0.38, 'reward': 1.320117224875983, 'saturation': 0.029814814814814808, 'length': 1000.0, 'failure': 0.0, 'distance': 70.14595770972504, 'return': 1969.8531481242885, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:11,299Z INFO episode phase=validation condition=effort_shuffled__+0.2000 seed=110008 metrics={'x_velocity': 0.7420973983168269, 'y_velocity': 0.0, 'planar_speed': 0.8069191027277303, 'height': 0.30761021169132563, 'yaw_rate': 0.0, 'effort': 0.8916650446918276, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 0.20709837132953918, 'saturation': 0.6562962962962964, 'length': 1000.0, 'failure': 0.0, 'distance': 33.39438292425721, 'return': 977.3463617648245, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:11,315Z INFO validation {'vector': 'effort_shuffled', 'behavior': 'effort', 'alpha': 0.2, 'effect': {'behavior': 'effort', 'effect': -0.02047880709543824, 'ci95': [-0.11747177914245469, 0.06369082742076776], 'relative_effect': -0.02963203275827017, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.6706248800021907, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 1.6062376855449194, 'effort': 0.6706248800021907, 'height': 0.4904440706754592, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.189, 'bad_contact': 0.13344444444444445, 'planar_speed': 1.7253470699671798, 'saturation': 0.31851851851851853, 'reward': 1.20386275754286, 'failure': 0.3, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.189, 'bad_contact': 0.13344444444444445, 'failure': 0.3}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:12,307Z INFO episode phase=validation condition=effort_shuffled__+0.5000 seed=110002 metrics={'x_velocity': 0.5742285125520842, 'y_velocity': 0.0, 'planar_speed': 0.5743496243545413, 'height': 0.4231081951701096, 'yaw_rate': 0.0, 'effort': 0.8927067359950808, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 0.03860447118020883, 'saturation': 0.8188888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 25.84028306484379, 'return': 798.9622756859873, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:12,325Z INFO episode phase=validation condition=effort_shuffled__+0.5000 seed=110000 metrics={'x_velocity': 0.5606772122420985, 'y_velocity': 0.0, 'planar_speed': 0.5607923418742539, 'height': 0.42062088925581775, 'yaw_rate': 0.0, 'effort': 0.8953239858481619, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 0.02348282068684221, 'saturation': 0.8264814814814816, 'length': 1000.0, 'failure': 0.0, 'distance': 25.230474550894435, 'return': 755.7515809570414, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:12,344Z INFO episode phase=validation condition=effort_shuffled__+0.5000 seed=110003 metrics={'x_velocity': 0.6566225308544942, 'y_velocity': 0.0, 'planar_speed': 0.6567272798406174, 'height': 0.4314655266574957, 'yaw_rate': 0.0, 'effort': 0.8865772649314668, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 0.12467617152474064, 'saturation': 0.8035185185185186, 'length': 1000.0, 'failure': 0.0, 'distance': 29.54801388845224, 'return': 946.9804834472769, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:12,362Z INFO episode phase=validation condition=effort_shuffled__+0.5000 seed=110001 metrics={'x_velocity': 0.5630176705495027, 'y_velocity': 0.0, 'planar_speed': 0.5631427663778087, 'height': 0.4299372527319667, 'yaw_rate': 0.0, 'effort': 0.8921348024408022, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 0.027736789369799023, 'saturation': 0.8153703703703704, 'length': 1000.0, 'failure': 0.0, 'distance': 25.33579517472762, 'return': 707.8258595636655, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:13,290Z INFO episode phase=validation condition=effort_shuffled__+0.5000 seed=110006 metrics={'x_velocity': 0.674589842524898, 'y_velocity': 0.0, 'planar_speed': 0.6838025197241879, 'height': 0.5492469425833751, 'yaw_rate': 0.0, 'effort': 0.058703329749405384, 'inversion': 0.013333333333333334, 'bad_contact': 0.91, 'reward': 0.6393678446371741, 'saturation': 0.012592592592592593, 'length': 1000.0, 'failure': 0.0, 'distance': 30.356542913620412, 'return': 1334.3698824056294, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:13,310Z INFO episode phase=validation condition=effort_shuffled__+0.5000 seed=110004 metrics={'x_velocity': 0.6051608890411206, 'y_velocity': 0.0, 'planar_speed': 0.6107691768092716, 'height': 0.6950692622050231, 'yaw_rate': 0.0, 'effort': 0.8108854232728482, 'inversion': 0.0, 'bad_contact': 0.93, 'reward': 0.11862963965041255, 'saturation': 0.5125925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 27.232240006850432, 'return': 891.9346061213834, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:13,326Z INFO episode phase=validation condition=effort_shuffled__+0.5000 seed=110007 metrics={'x_velocity': 1.5448894046414055, 'y_velocity': 0.0, 'planar_speed': 1.707989184866388, 'height': 0.24020290593193333, 'yaw_rate': 0.0, 'effort': 0.5197683594458633, 'inversion': 0.9322222222222222, 'bad_contact': 0.29333333333333333, 'reward': 1.2330283888712348, 'saturation': 0.10074074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 69.52002320886325, 'return': 1956.4885434007078, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:13,343Z INFO episode phase=validation condition=effort_shuffled__+0.5000 seed=110005 metrics={'x_velocity': 0.6032091495469015, 'y_velocity': 0.0, 'planar_speed': 0.6033836946191709, 'height': 0.4322960777415102, 'yaw_rate': 0.0, 'effort': 0.88941988699966, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 0.06955721709544112, 'saturation': 0.8107407407407409, 'length': 1000.0, 'failure': 0.0, 'distance': 27.144411729610567, 'return': 804.419356687602, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:14,260Z INFO episode phase=validation condition=effort_shuffled__+0.5000 seed=110008 metrics={'x_velocity': 0.6870103820878313, 'y_velocity': 0.0, 'planar_speed': 0.6871253651898999, 'height': 0.431278324971581, 'yaw_rate': 0.0, 'effort': 0.8930900117754936, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 0.15115637500266668, 'saturation': 0.8175925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 30.91546719395241, 'return': 926.9985650706392, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:14,278Z INFO episode phase=validation condition=effort_shuffled__+0.5000 seed=110009 metrics={'x_velocity': 0.6041427552441496, 'y_velocity': 0.0, 'planar_speed': 0.6045092699120833, 'height': 0.4191845419067392, 'yaw_rate': 0.0, 'effort': 0.897970025340716, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 0.06536073999998349, 'saturation': 0.8320370370370372, 'length': 1000.0, 'failure': 0.0, 'distance': 27.186423985986735, 'return': 840.5723117358889, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:14,292Z INFO validation {'vector': 'effort_shuffled', 'behavior': 'effort', 'alpha': 0.5, 'effect': {'behavior': 'effort', 'effect': 0.0725542954823209, 'ci95': [-0.10218970787599685, 0.19519425140909016], 'relative_effect': 0.10498322731719342, 'baseline_mean': 0.6911036870976289, 'treated_mean': 0.7636579825799499, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 0.7073548349284485, 'effort': 0.7636579825799499, 'height': 0.44724099191555516, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09455555555555555, 'bad_contact': 0.21388888888888888, 'planar_speed': 0.7252591223568222, 'saturation': 0.6350555555555556, 'reward': 0.24916004580185036, 'failure': 0.3, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09455555555555555, 'bad_contact': 0.21388888888888888, 'failure': 0.3}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:15,242Z INFO episode phase=validation condition=height__-0.5000 seed=110003 metrics={'x_velocity': 0.6925467007733151, 'y_velocity': 0.0, 'planar_speed': 0.7007841563498096, 'height': 0.45385908559226545, 'yaw_rate': 0.0, 'effort': 0.06477385852692856, 'inversion': 0.015555555555555555, 'bad_contact': 0.9122222222222223, 'reward': 0.6536823856426706, 'saturation': 0.004814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 31.164601534799182, 'return': 1423.086076153414, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:15,259Z INFO episode phase=validation condition=height__-0.5000 seed=110000 metrics={'x_velocity': 0.7621862625047985, 'y_velocity': 0.0, 'planar_speed': 0.7680389141702755, 'height': 0.6891180680387394, 'yaw_rate': 0.0, 'effort': 0.8365241398082839, 'inversion': 0.0, 'bad_contact': 0.8011111111111111, 'reward': 0.2602717769177844, 'saturation': 0.475, 'length': 1000.0, 'failure': 0.0, 'distance': 34.29838181271594, 'return': 968.8616415648893, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:15,276Z INFO episode phase=validation condition=height__-0.5000 seed=110002 metrics={'x_velocity': 0.6516991595657654, 'y_velocity': 0.0, 'planar_speed': 0.6767995685110195, 'height': 0.6874385416734488, 'yaw_rate': 0.0, 'effort': 0.8421574224200513, 'inversion': 0.0, 'bad_contact': 0.8177777777777778, 'reward': 0.1464047057329272, 'saturation': 0.4840740740740741, 'length': 1000.0, 'failure': 0.0, 'distance': 29.326462180459444, 'return': 895.9824867834337, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:15,293Z INFO episode phase=validation condition=height__-0.5000 seed=110001 metrics={'x_velocity': 0.8691862036744025, 'y_velocity': 0.0, 'planar_speed': 0.9672409987748809, 'height': 0.6776925140062111, 'yaw_rate': 0.0, 'effort': 0.8091800069146686, 'inversion': 0.0011111111111111111, 'bad_contact': 0.5766666666666667, 'reward': 0.38367819951235577, 'saturation': 0.4477777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 39.113379165348114, 'return': 1028.1731286919667, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:16,247Z INFO episode phase=validation condition=height__-0.5000 seed=110004 metrics={'x_velocity': 0.8700345723531172, 'y_velocity': 0.0, 'planar_speed': 0.872499038653331, 'height': 0.6989080324778252, 'yaw_rate': 0.0, 'effort': 0.8375011350876755, 'inversion': 0.0, 'bad_contact': 0.8522222222222222, 'reward': 0.3675338909859318, 'saturation': 0.47888888888888886, 'length': 1000.0, 'failure': 0.0, 'distance': 39.15155575589028, 'return': 1115.948432323351, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:16,287Z INFO episode phase=validation condition=height__-0.5000 seed=110006 metrics={'x_velocity': 0.801275085062423, 'y_velocity': 0.0, 'planar_speed': 0.8260483648831465, 'height': 0.6845611357679361, 'yaw_rate': 0.0, 'effort': 0.8419190463092592, 'inversion': 0.0, 'bad_contact': 0.7777777777777778, 'reward': 0.29612365665433016, 'saturation': 0.4837037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 36.05737882780903, 'return': 1025.4501132210696, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:16,305Z INFO episode phase=validation condition=height__-0.5000 seed=110005 metrics={'x_velocity': 0.7298225320685227, 'y_velocity': 0.0, 'planar_speed': 0.7348132006368837, 'height': 0.7041080252393069, 'yaw_rate': 0.0, 'effort': 0.8461670047707028, 'inversion': 0.0, 'bad_contact': 0.8722222222222222, 'reward': 0.22212232864979095, 'saturation': 0.48370370370370375, 'length': 1000.0, 'failure': 0.0, 'distance': 32.84201394308352, 'return': 941.7279570865167, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:16,320Z INFO episode phase=validation condition=height__-0.5000 seed=110007 metrics={'x_velocity': 1.0672422552300846, 'y_velocity': 0.0, 'planar_speed': 1.2706023442622891, 'height': 0.18059110788038657, 'yaw_rate': 0.0, 'effort': 0.4945289101037714, 'inversion': 0.9777777777777777, 'bad_contact': 0.6611111111111111, 'reward': 0.7705249091711333, 'saturation': 0.12944444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 48.02590148535381, 'return': 1540.235411670616, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:17,183Z INFO episode phase=validation condition=height__-0.5000 seed=110008 metrics={'x_velocity': 0.8139903468654228, 'y_velocity': 0.0, 'planar_speed': 0.8236314536362624, 'height': 0.6895271464131297, 'yaw_rate': 0.0, 'effort': 0.8506170284416941, 'inversion': 0.0, 'bad_contact': 0.8655555555555555, 'reward': 0.30362012938317384, 'saturation': 0.4903703703703704, 'length': 1000.0, 'failure': 0.0, 'distance': 36.62956560894403, 'return': 1064.2159440130956, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:17,209Z INFO episode phase=validation condition=height__-0.5000 seed=110009 metrics={'x_velocity': 0.7575781941518321, 'y_velocity': 0.0, 'planar_speed': 0.762728529998568, 'height': 0.6990366684319269, 'yaw_rate': 0.0, 'effort': 0.8484098402327961, 'inversion': 0.0, 'bad_contact': 0.8711111111111111, 'reward': 0.2485322898863225, 'saturation': 0.4803703703703704, 'length': 1000.0, 'failure': 0.0, 'distance': 34.091018736832446, 'return': 1005.4267066335938, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:17,224Z INFO validation {'vector': 'height', 'behavior': 'height', 'alpha': -0.5, 'effect': {'behavior': 'height', 'effect': 0.023742140684321383, 'ci95': [-0.08025994447676965, 0.10046289401151862], 'relative_effect': 0.04005477090459599, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6164840325521176, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 0.8015561312249684, 'effort': 0.7271778392615833, 'height': 0.6164840325521176, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09944444444444445, 'bad_contact': 0.8007777777777777, 'planar_speed': 0.8403186569876466, 'saturation': 0.39581481481481484, 'reward': 0.36524942725364207, 'failure': 1.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09944444444444445, 'bad_contact': 0.8007777777777777, 'failure': 1.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:18,168Z INFO episode phase=validation condition=height__-0.2000 seed=110003 metrics={'x_velocity': 5.5501809419537835, 'y_velocity': 0.0, 'planar_speed': 5.565159389671656, 'height': 0.6352581459112311, 'yaw_rate': 0.0, 'effort': 0.698764496429099, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 5.1309222443645455, 'saturation': 0.2433333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 249.7581423879203, 'return': 5452.601949003101, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:18,186Z INFO episode phase=validation condition=height__-0.2000 seed=110002 metrics={'x_velocity': 5.032833890924698, 'y_velocity': 0.0, 'planar_speed': 5.079014890100209, 'height': 0.6022798890870036, 'yaw_rate': 0.0, 'effort': 0.7156105106075604, 'inversion': 0.0, 'bad_contact': 0.02, 'reward': 4.603467584646257, 'saturation': 0.27, 'length': 1000.0, 'failure': 0.0, 'distance': 226.47752509161143, 'return': 4907.339077805431, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:18,202Z INFO episode phase=validation condition=height__-0.2000 seed=110001 metrics={'x_velocity': 6.819489275364621, 'y_velocity': 0.0, 'planar_speed': 6.819489275364621, 'height': 0.6455587981081682, 'yaw_rate': 0.0, 'effort': 0.7053924809023738, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 6.396253786986281, 'saturation': 0.2427777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 306.87701739140795, 'return': 6439.491157418499, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:18,218Z INFO episode phase=validation condition=height__-0.2000 seed=110000 metrics={'x_velocity': 1.589650450092444, 'y_velocity': 0.0, 'planar_speed': 1.7425460032357998, 'height': 0.2253405306511629, 'yaw_rate': 0.0, 'effort': 0.3877667957254582, 'inversion': 0.96, 'bad_contact': 0.4288888888888889, 'reward': 1.3569903725801795, 'saturation': 0.024259259259259258, 'length': 1000.0, 'failure': 0.0, 'distance': 71.53427025415998, 'return': 1955.908377661045, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:19,103Z INFO episode phase=validation condition=height__-0.2000 seed=110004 metrics={'x_velocity': 6.567324800237823, 'y_velocity': 0.0, 'planar_speed': 6.567324800237823, 'height': 0.6406560804990454, 'yaw_rate': 0.0, 'effort': 0.7102536842765079, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 6.141172589255511, 'saturation': 0.2557407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 295.529616010702, 'return': 6312.2232607659735, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:19,132Z INFO episode phase=validation condition=height__-0.2000 seed=110005 metrics={'x_velocity': 4.503770290937006, 'y_velocity': 0.0, 'planar_speed': 4.57858553110555, 'height': 0.6056259106727184, 'yaw_rate': 0.0, 'effort': 0.694257061034441, 'inversion': 0.0, 'bad_contact': 0.023333333333333334, 'reward': 4.087216054789868, 'saturation': 0.25481481481481477, 'length': 1000.0, 'failure': 0.0, 'distance': 202.6696630921653, 'return': 4420.312310612586, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:19,142Z INFO episode phase=validation condition=height__-0.2000 seed=110006 metrics={'x_velocity': 0.5775138555030458, 'y_velocity': 0.0, 'planar_speed': 0.5775329941677693, 'height': 0.1479348869994093, 'yaw_rate': 0.0, 'effort': 0.99587084773514, 'inversion': 0.9822222222222222, 'bad_contact': 0.93, 'reward': -0.020008653144661, 'saturation': 0.99, 'length': 1000.0, 'failure': 0.0, 'distance': 25.988123497637062, 'return': 740.9310344019777, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:19,164Z INFO episode phase=validation condition=height__-0.2000 seed=110007 metrics={'x_velocity': 6.194922342725013, 'y_velocity': 0.0, 'planar_speed': 6.194922342725013, 'height': 0.6584940284034817, 'yaw_rate': 0.0, 'effort': 0.6950578223913908, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 5.777887648934207, 'saturation': 0.2448148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 278.7715054226256, 'return': 6046.8618774573815, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:20,010Z INFO episode phase=validation condition=height__-0.2000 seed=110008 metrics={'x_velocity': 0.6291586371491881, 'y_velocity': 0.0, 'planar_speed': 0.6291908306955011, 'height': 0.15335688383231538, 'yaw_rate': 0.0, 'effort': 0.9946444671021567, 'inversion': 0.98, 'bad_contact': 0.9333333333333333, 'reward': 0.032371956848157815, 'saturation': 0.985925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 28.312138671713463, 'return': 820.0925887315811, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:20,049Z INFO episode phase=validation condition=height__-0.2000 seed=110009 metrics={'x_velocity': 1.8832953432134896, 'y_velocity': 0.0, 'planar_speed': 2.000662936728651, 'height': 0.30362959295226294, 'yaw_rate': 0.0, 'effort': 0.44049495888253054, 'inversion': 0.7655555555555555, 'bad_contact': 0.37666666666666665, 'reward': 1.618998368064441, 'saturation': 0.06314814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 84.74829044460704, 'return': 2238.846176993901, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:20,067Z INFO validation {'vector': 'height', 'behavior': 'height', 'alpha': -0.2, 'effect': {'behavior': 'height', 'effect': -0.13092841715611633, 'ci95': [-0.26521939986934995, 0.003617979999015907], 'relative_effect': -0.22088605336050438, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.4618134747116799, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 3.934813982810111, 'effort': 0.7038113125086659, 'height': 0.4618134747116799, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.36877777777777776, 'bad_contact': 0.2722222222222222, 'planar_speed': 3.9754428994032596, 'saturation': 0.35748148148148146, 'reward': 3.5125271953324786, 'failure': 0.4, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.36877777777777776, 'bad_contact': 0.2722222222222222, 'failure': 0.4}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:21,033Z INFO episode phase=validation condition=height__-0.1000 seed=110002 metrics={'x_velocity': 1.848322021256868, 'y_velocity': 0.0, 'planar_speed': 1.8536949575565045, 'height': 0.5567189408763655, 'yaw_rate': 0.0, 'effort': 0.11092306334214906, 'inversion': 0.024444444444444446, 'bad_contact': 0.8122222222222222, 'reward': 1.7817681833018704, 'saturation': 0.01925925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 83.17449095655907, 'return': 2367.809616595483, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:21,049Z INFO episode phase=validation condition=height__-0.1000 seed=110003 metrics={'x_velocity': 0.7827186037835855, 'y_velocity': 0.0, 'planar_speed': 0.7827519543750879, 'height': 0.15673792390775182, 'yaw_rate': 0.0, 'effort': 0.991872390806675, 'inversion': 0.97, 'bad_contact': 0.9122222222222223, 'reward': 0.18759516933269463, 'saturation': 0.9792592592592593, 'length': 1000.0, 'failure': 0.0, 'distance': 35.22233717026135, 'return': 1003.6075814744349, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:21,066Z INFO episode phase=validation condition=height__-0.1000 seed=110000 metrics={'x_velocity': 1.6723900632232704, 'y_velocity': 0.0, 'planar_speed': 1.7915385889941704, 'height': 0.2414488632494136, 'yaw_rate': 0.0, 'effort': 0.3571412104823523, 'inversion': 0.9477777777777778, 'bad_contact': 0.45666666666666667, 'reward': 1.458105337045618, 'saturation': 0.04277777777777777, 'length': 1000.0, 'failure': 0.0, 'distance': 75.25755284504717, 'return': 2046.9118456799397, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:21,080Z INFO episode phase=validation condition=height__-0.1000 seed=110001 metrics={'x_velocity': 9.819140672654992, 'y_velocity': 0.0, 'planar_speed': 9.819140672654992, 'height': 0.6811272196443918, 'yaw_rate': 0.0, 'effort': 0.6947707030011548, 'inversion': 0.014444444444444444, 'bad_contact': 0.005555555555555556, 'reward': 9.402278251354316, 'saturation': 0.15870370370370368, 'length': 1000.0, 'failure': 0.0, 'distance': 441.86133026947465, 'return': 9144.913175349731, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:21,954Z INFO episode phase=validation condition=height__-0.1000 seed=110004 metrics={'x_velocity': 10.412341627634971, 'y_velocity': 0.0, 'planar_speed': 10.412341627634971, 'height': 0.6631688792415692, 'yaw_rate': 0.0, 'effort': 0.6943128546078999, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 9.995753914843739, 'saturation': 0.14333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 468.55537324357374, 'return': 9781.346453795377, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:21,967Z INFO episode phase=validation condition=height__-0.1000 seed=110005 metrics={'x_velocity': 10.418211201035705, 'y_velocity': 0.0, 'planar_speed': 10.418211201035705, 'height': 0.666905679299823, 'yaw_rate': 0.0, 'effort': 0.6848857702604598, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 10.00727973893324, 'saturation': 0.12925925925925924, 'length': 1000.0, 'failure': 0.0, 'distance': 468.81950404660677, 'return': 9748.36962634162, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:21,982Z INFO episode phase=validation condition=height__-0.1000 seed=110007 metrics={'x_velocity': 11.224942693801923, 'y_velocity': 0.0, 'planar_speed': 11.224942693801923, 'height': 0.6515995284926982, 'yaw_rate': 0.0, 'effort': 0.6930713642968072, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.809099875720543, 'saturation': 0.12907407407407406, 'length': 1000.0, 'failure': 0.0, 'distance': 505.1224212210866, 'return': 10574.952881565085, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:21,993Z INFO episode phase=validation condition=height__-0.1000 seed=110006 metrics={'x_velocity': 10.26825674387259, 'y_velocity': 0.0, 'planar_speed': 10.26825674387259, 'height': 0.6572484197350664, 'yaw_rate': 0.0, 'effort': 0.689148717638519, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 9.854767513451733, 'saturation': 0.14685185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 462.0715534742665, 'return': 9628.229584338733, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:22,693Z INFO episode phase=validation condition=height__-0.1000 seed=110009 metrics={'x_velocity': 1.3208285069290493, 'y_velocity': 0.0, 'planar_speed': 1.3307072995065445, 'height': 0.547923431593223, 'yaw_rate': 0.0, 'effort': 0.0806357369882365, 'inversion': 0.02666666666666667, 'bad_contact': 0.8688888888888889, 'reward': 1.2724470647257593, 'saturation': 0.014074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 59.43728281180722, 'return': 1926.950003989087, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:22,710Z INFO episode phase=validation condition=height__-0.1000 seed=110008 metrics={'x_velocity': 2.1516461022955444, 'y_velocity': 0.0, 'planar_speed': 2.154546086585726, 'height': 0.5673433390770212, 'yaw_rate': 0.0, 'effort': 0.14638096776376996, 'inversion': 0.02666666666666667, 'bad_contact': 0.76, 'reward': 2.0638175218150616, 'saturation': 0.025185185185185182, 'length': 1000.0, 'failure': 0.0, 'distance': 96.82407460329951, 'return': 2648.3935972017944, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:22,726Z INFO validation {'vector': 'height', 'behavior': 'height', 'alpha': -0.1, 'effect': {'behavior': 'height', 'effect': -0.05371966935606386, 'ci95': [-0.1684934312847714, 0.0447903662853376], 'relative_effect': -0.0906291087116977, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5390222225117324, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 5.9918798236488495, 'effort': 0.5143142779188024, 'height': 0.5390222225117324, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.201, 'bad_contact': 0.3818888888888889, 'planar_speed': 6.005613182601821, 'saturation': 0.17877777777777779, 'reward': 5.683291257052458, 'failure': 0.5, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.201, 'bad_contact': 0.3818888888888889, 'failure': 0.5}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:23,562Z INFO episode phase=validation condition=height__-0.0500 seed=110003 metrics={'x_velocity': 2.0083777076864098, 'y_velocity': 0.0, 'planar_speed': 2.0196531868780077, 'height': 0.5742867237760912, 'yaw_rate': 0.0, 'effort': 0.1176898261759844, 'inversion': 0.027777777777777776, 'bad_contact': 0.8122222222222222, 'reward': 1.937763812022625, 'saturation': 0.01759259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 90.37699684588844, 'return': 2578.7593598953727, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:23,594Z INFO episode phase=validation condition=height__-0.0500 seed=110000 metrics={'x_velocity': 3.81116268785227, 'y_velocity': 0.0, 'planar_speed': 3.820872691724072, 'height': 0.5713714018788438, 'yaw_rate': 0.0, 'effort': 0.2013504235104968, 'inversion': 0.04, 'bad_contact': 0.6911111111111111, 'reward': 3.690352433563226, 'saturation': 0.02259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 171.50232095335218, 'return': 4055.934232545786, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:23,607Z INFO episode phase=validation condition=height__-0.0500 seed=110002 metrics={'x_velocity': 11.99886583631471, 'y_velocity': 0.0, 'planar_speed': 11.99886583631471, 'height': 0.6730379842240112, 'yaw_rate': 0.0, 'effort': 0.6787560408148501, 'inversion': 0.0011111111111111111, 'bad_contact': 0.0011111111111111111, 'reward': 11.591612211557578, 'saturation': 0.10055555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 539.948962634162, 'return': 11196.669242025622, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:23,621Z INFO episode phase=validation condition=height__-0.0500 seed=110001 metrics={'x_velocity': 3.1025407934815923, 'y_velocity': 0.0, 'planar_speed': 3.180900794611332, 'height': 0.2939879179557315, 'yaw_rate': 0.0, 'effort': 0.364776113567253, 'inversion': 0.8133333333333334, 'bad_contact': 0.3566666666666667, 'reward': 2.8836751250274886, 'saturation': 0.02833333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 139.61433570667165, 'return': 3278.170361655586, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:24,294Z INFO episode phase=validation condition=height__-0.0500 seed=110004 metrics={'x_velocity': 9.463151927254893, 'y_velocity': 0.0, 'planar_speed': 9.475536722805149, 'height': 0.6295871651429253, 'yaw_rate': 0.0, 'effort': 0.4933915450051427, 'inversion': 0.027777777777777776, 'bad_contact': 0.25333333333333335, 'reward': 9.16711700012101, 'saturation': 0.06592592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 425.84183672647026, 'return': 9035.573230544922, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:24,336Z INFO episode phase=validation condition=height__-0.0500 seed=110006 metrics={'x_velocity': 12.129052442534897, 'y_velocity': 0.0, 'planar_speed': 12.129052442534897, 'height': 0.6585020472833073, 'yaw_rate': 0.0, 'effort': 0.6803900955037938, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 11.720818385419713, 'saturation': 0.10277777777777777, 'length': 1000.0, 'failure': 0.0, 'distance': 545.8073599140704, 'return': 11307.675369109915, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:24,350Z INFO episode phase=validation condition=height__-0.0500 seed=110007 metrics={'x_velocity': 5.128945566243295, 'y_velocity': 0.0, 'planar_speed': 5.134220342797609, 'height': 0.6068135521757978, 'yaw_rate': 0.0, 'effort': 0.2820246882084757, 'inversion': 0.025555555555555557, 'bad_contact': 0.5633333333333334, 'reward': 4.959730753546072, 'saturation': 0.04, 'length': 1000.0, 'failure': 0.0, 'distance': 230.8025504809483, 'return': 5310.520671608062, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:24,363Z INFO episode phase=validation condition=height__-0.0500 seed=110005 metrics={'x_velocity': 12.912232046361055, 'y_velocity': 0.0, 'planar_speed': 12.912232046361055, 'height': 0.6479493406006979, 'yaw_rate': 0.0, 'effort': 0.6738502715362443, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.507921883790313, 'saturation': 0.0898148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 581.0504420862475, 'return': 11998.947556712988, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:25,048Z INFO episode phase=validation condition=height__-0.0500 seed=110008 metrics={'x_velocity': 1.7756061755712182, 'y_velocity': 0.0, 'planar_speed': 1.7758035739497977, 'height': 0.22169452310533644, 'yaw_rate': 0.0, 'effort': 0.1304431585056914, 'inversion': 0.8733333333333333, 'bad_contact': 0.8422222222222222, 'reward': 1.6973402809032483, 'saturation': 0.013518518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 79.90227790070483, 'return': 2318.564080381163, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:25,087Z INFO episode phase=validation condition=height__-0.0500 seed=110009 metrics={'x_velocity': 5.589688840947714, 'y_velocity': 0.0, 'planar_speed': 5.599878761120443, 'height': 0.6034397168087271, 'yaw_rate': 0.0, 'effort': 0.3097179316894876, 'inversion': 0.021111111111111112, 'bad_contact': 0.5133333333333333, 'reward': 5.403858081982036, 'saturation': 0.04388888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 251.53599784264713, 'return': 5645.219919519736, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:25,098Z INFO validation {'vector': 'height', 'behavior': 'height', 'alpha': -0.05, 'effect': {'behavior': 'height', 'effect': -0.044674854572649275, 'ci95': [-0.1440497701095748, 0.03845277998217721], 'relative_effect': -0.07536982822636983, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5480670372951468, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 6.791962402424805, 'effort': 0.39323900945174206, 'height': 0.5480670372951468, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.183, 'bad_contact': 0.40344444444444444, 'planar_speed': 6.804701639909707, 'saturation': 0.052500000000000005, 'reward': 6.556018996793331, 'failure': 0.7, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.183, 'bad_contact': 0.40344444444444444, 'failure': 0.7}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:25,854Z INFO episode phase=validation condition=height__+0.0500 seed=110003 metrics={'x_velocity': 14.727800954295304, 'y_velocity': 0.0, 'planar_speed': 14.727800954295304, 'height': 0.6407174084986696, 'yaw_rate': 0.0, 'effort': 0.5616206421123611, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.390828568769603, 'saturation': 0.0029629629629629632, 'length': 1000.0, 'failure': 0.0, 'distance': 662.7510429432887, 'return': 13786.517640967651, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:25,868Z INFO episode phase=validation condition=height__+0.0500 seed=110000 metrics={'x_velocity': 14.517478608399788, 'y_velocity': 0.0, 'planar_speed': 14.517478608399788, 'height': 0.6382740261855502, 'yaw_rate': 0.0, 'effort': 0.5660941784580549, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.177822101305088, 'saturation': 0.00574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 653.2865373779905, 'return': 13494.656933513463, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:25,882Z INFO episode phase=validation condition=height__+0.0500 seed=110001 metrics={'x_velocity': 14.72074391231135, 'y_velocity': 0.0, 'planar_speed': 14.72074391231135, 'height': 0.6356154200306486, 'yaw_rate': 0.0, 'effort': 0.5652413172192043, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.381599122324209, 'saturation': 0.003518518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 662.4334760540108, 'return': 13626.301959222634, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:25,894Z INFO episode phase=validation condition=height__+0.0500 seed=110002 metrics={'x_velocity': 14.562648631552628, 'y_velocity': 0.0, 'planar_speed': 14.562648631552628, 'height': 0.6385292863681183, 'yaw_rate': 0.0, 'effort': 0.5651165465182728, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.223578703343643, 'saturation': 0.005, 'length': 1000.0, 'failure': 0.0, 'distance': 655.3191884198683, 'return': 13565.439084633079, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:26,604Z INFO episode phase=validation condition=height__+0.0500 seed=110004 metrics={'x_velocity': 14.50565271793164, 'y_velocity': 0.0, 'planar_speed': 14.50565271793164, 'height': 0.6410456744732437, 'yaw_rate': 0.0, 'effort': 0.5715629970033963, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.162714919895175, 'saturation': 0.009814814814814813, 'length': 1000.0, 'failure': 0.0, 'distance': 652.7543723069239, 'return': 13531.611358341666, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:26,618Z INFO episode phase=validation condition=height__+0.0500 seed=110005 metrics={'x_velocity': 14.837563780274658, 'y_velocity': 0.0, 'planar_speed': 14.837563780274658, 'height': 0.633401692509521, 'yaw_rate': 0.0, 'effort': 0.5650934108429485, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.498507733643057, 'saturation': 0.002037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 667.6903701123597, 'return': 13790.474821580458, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:26,633Z INFO episode phase=validation condition=height__+0.0500 seed=110007 metrics={'x_velocity': 14.546035014703223, 'y_velocity': 0.0, 'planar_speed': 14.546035014703223, 'height': 0.639112158205529, 'yaw_rate': 0.0, 'effort': 0.5683883475926187, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.205002006472167, 'saturation': 0.005185185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 654.571575661645, 'return': 13631.264799241546, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:26,668Z INFO episode phase=validation condition=height__+0.0500 seed=110006 metrics={'x_velocity': 14.747472867393935, 'y_velocity': 0.0, 'planar_speed': 14.747472867393935, 'height': 0.6349170601139938, 'yaw_rate': 0.0, 'effort': 0.5688774400618342, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.406146403376702, 'saturation': 0.0038888888888888888, 'length': 1000.0, 'failure': 0.0, 'distance': 663.6362790327271, 'return': 13724.470585271207, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:27,342Z INFO episode phase=validation condition=height__+0.0500 seed=110009 metrics={'x_velocity': 14.448097809573076, 'y_velocity': 0.0, 'planar_speed': 14.448097809573076, 'height': 0.6385406616532535, 'yaw_rate': 0.0, 'effort': 0.5755535082022349, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.102765705181554, 'saturation': 0.009814814814814813, 'length': 1000.0, 'failure': 0.0, 'distance': 650.1644014307885, 'return': 13474.236780399304, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:27,356Z INFO episode phase=validation condition=height__+0.0500 seed=110008 metrics={'x_velocity': 14.75719888275142, 'y_velocity': 0.0, 'planar_speed': 14.75719888275142, 'height': 0.6377496550083164, 'yaw_rate': 0.0, 'effort': 0.5669773043195406, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.41701250048421, 'saturation': 0.002962962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 664.0739497238139, 'return': 13766.269078004028, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:27,368Z INFO validation {'vector': 'height', 'behavior': 'height', 'alpha': 0.05, 'effect': {'behavior': 'height', 'effect': 0.045048412436888195, 'ci95': [0.04367347203471032, 0.04645196803362913], 'relative_effect': 0.07600004834302432, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6377903043046844, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 14.637069317918705, 'effort': 0.5674525692330467, 'height': 0.6377903043046844, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 14.637069317918705, 'saturation': 0.005092592592592592, 'reward': 14.29659777647954, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:28,140Z INFO episode phase=validation condition=height__+0.1000 seed=110000 metrics={'x_velocity': 12.559253926302441, 'y_velocity': 0.0, 'planar_speed': 12.559253926302441, 'height': 0.656621786659128, 'yaw_rate': 0.0, 'effort': 0.5498695123526786, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.22933221863917, 'saturation': 0.0038888888888888883, 'length': 1000.0, 'failure': 0.0, 'distance': 565.1664266836099, 'return': 11741.016039114136, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:28,155Z INFO episode phase=validation condition=height__+0.1000 seed=110002 metrics={'x_velocity': 2.2140382860885897, 'y_velocity': 0.0, 'planar_speed': 2.214079974536697, 'height': 0.2366333173418074, 'yaw_rate': 0.0, 'effort': 0.12625606197656858, 'inversion': 0.8344444444444444, 'bad_contact': 0.7988888888888889, 'reward': 2.1382846488426304, 'saturation': 0.0022222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 99.63172287398655, 'return': 2688.674435582166, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:28,171Z INFO episode phase=validation condition=height__+0.1000 seed=110003 metrics={'x_velocity': 11.82823439997038, 'y_velocity': 0.0, 'planar_speed': 11.82823439997038, 'height': 0.6644359901749498, 'yaw_rate': 0.0, 'effort': 0.5661289066076278, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 11.488557055409757, 'saturation': 0.01685185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 532.2705479986671, 'return': 11174.473278943791, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:28,189Z INFO episode phase=validation condition=height__+0.1000 seed=110001 metrics={'x_velocity': 12.786186724893943, 'y_velocity': 0.0, 'planar_speed': 12.786186724893943, 'height': 0.6561376450948758, 'yaw_rate': 0.0, 'effort': 0.5447278235852718, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.45935003154082, 'saturation': 0.004074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 575.3784026202275, 'return': 11896.277777517585, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:28,894Z INFO episode phase=validation condition=height__+0.1000 seed=110005 metrics={'x_velocity': 8.519062273393828, 'y_velocity': 0.0, 'planar_speed': 8.5414259581059, 'height': 0.5332273459912512, 'yaw_rate': 0.0, 'effort': 0.47137784123834636, 'inversion': 0.28444444444444444, 'bad_contact': 0.15, 'reward': 8.23623556888593, 'saturation': 0.019074074074074077, 'length': 1000.0, 'failure': 0.0, 'distance': 383.35780230272235, 'return': 8154.429873299039, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:28,909Z INFO episode phase=validation condition=height__+0.1000 seed=110004 metrics={'x_velocity': 12.345503943453213, 'y_velocity': 0.0, 'planar_speed': 12.345503943453213, 'height': 0.6526148675493819, 'yaw_rate': 0.0, 'effort': 0.5581601270867719, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.01060786686008, 'saturation': 0.008888888888888887, 'length': 1000.0, 'failure': 0.0, 'distance': 555.5476774553946, 'return': 11594.715010610083, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:28,932Z INFO episode phase=validation condition=height__+0.1000 seed=110006 metrics={'x_velocity': 12.272946074886269, 'y_velocity': 0.0, 'planar_speed': 12.272946074886269, 'height': 0.6580066783070947, 'yaw_rate': 0.0, 'effort': 0.5500737623539236, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.942901817232185, 'saturation': 0.007407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 552.2825733698821, 'return': 11507.550457741141, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:28,944Z INFO episode phase=validation condition=height__+0.1000 seed=110007 metrics={'x_velocity': 12.430928735240057, 'y_velocity': 0.0, 'planar_speed': 12.430928735240057, 'height': 0.6573683091888256, 'yaw_rate': 0.0, 'effort': 0.5587449695418278, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.095681752996732, 'saturation': 0.008703703703703705, 'length': 1000.0, 'failure': 0.0, 'distance': 559.3917930858026, 'return': 11732.876571113655, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:29,622Z INFO episode phase=validation condition=height__+0.1000 seed=110008 metrics={'x_velocity': 12.378016982900679, 'y_velocity': 0.0, 'planar_speed': 12.378016982900679, 'height': 0.6519654886546199, 'yaw_rate': 0.0, 'effort': 0.5575778212646644, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.043470290357117, 'saturation': 0.004814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 557.0107642305305, 'return': 11630.081088889645, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:29,634Z INFO episode phase=validation condition=height__+0.1000 seed=110009 metrics={'x_velocity': 11.262518579017131, 'y_velocity': 0.0, 'planar_speed': 11.262518579017131, 'height': 0.6643509830374266, 'yaw_rate': 0.0, 'effort': 0.5772207226521439, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 10.916186145237095, 'saturation': 0.02222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 506.81333605577095, 'return': 10606.31517644929, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:29,645Z INFO validation {'vector': 'height', 'behavior': 'height', 'alpha': 0.1, 'effect': {'behavior': 'height', 'effect': 0.010394349332139851, 'ci95': [-0.07473259110004242, 0.06600957415494887], 'relative_effect': 0.017536046422138466, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.603136241199936, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.859668992614653, 'effort': 0.5060137548659824, 'height': 0.603136241199936, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.11188888888888888, 'bad_contact': 0.0951111111111111, 'planar_speed': 10.86190952993067, 'saturation': 0.009814814814814813, 'reward': 10.556060739600152, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.11188888888888888, 'bad_contact': 0.0951111111111111, 'failure': 0.2}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:30,393Z INFO episode phase=validation condition=height__+0.2000 seed=110003 metrics={'x_velocity': 10.552068640435385, 'y_velocity': 0.0, 'planar_speed': 10.552068640435385, 'height': 0.6674535338845216, 'yaw_rate': 0.0, 'effort': 0.516382922993766, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.242238886950394, 'saturation': 0.004629629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 474.84308881959237, 'return': 10052.786927330366, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:30,408Z INFO episode phase=validation condition=height__+0.2000 seed=110000 metrics={'x_velocity': 9.722085503430533, 'y_velocity': 0.0, 'planar_speed': 9.722085503430533, 'height': 0.6739407813075788, 'yaw_rate': 0.0, 'effort': 0.5279208587192826, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.405332988359564, 'saturation': 0.019259259259259257, 'length': 1000.0, 'failure': 0.0, 'distance': 437.493847654374, 'return': 9199.416731862493, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:30,422Z INFO episode phase=validation condition=height__+0.2000 seed=110002 metrics={'x_velocity': 9.990795447001268, 'y_velocity': 0.0, 'planar_speed': 9.990795447001268, 'height': 0.6773762375081364, 'yaw_rate': 0.0, 'effort': 0.5229318575395479, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.677036332533834, 'saturation': 0.015925925925925923, 'length': 1000.0, 'failure': 0.0, 'distance': 449.58579511505707, 'return': 9473.550950904248, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:30,439Z INFO episode phase=validation condition=height__+0.2000 seed=110001 metrics={'x_velocity': 10.51257040297765, 'y_velocity': 0.0, 'planar_speed': 10.51257040297765, 'height': 0.6696366247326996, 'yaw_rate': 0.0, 'effort': 0.5101128288275666, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.206502705320169, 'saturation': 0.0044444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 473.0656681339942, 'return': 9868.715183919, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:31,125Z INFO episode phase=validation condition=height__+0.2000 seed=110004 metrics={'x_velocity': 10.253908437064824, 'y_velocity': 0.0, 'planar_speed': 10.253908437064824, 'height': 0.6738455990466918, 'yaw_rate': 0.0, 'effort': 0.5161330675582091, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.944228596662352, 'saturation': 0.010925925925925924, 'length': 1000.0, 'failure': 0.0, 'distance': 461.4258796679171, 'return': 9734.97366743213, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:31,148Z INFO episode phase=validation condition=height__+0.2000 seed=110005 metrics={'x_velocity': 10.279638726836268, 'y_velocity': 0.0, 'planar_speed': 10.279638726836268, 'height': 0.6720671392130164, 'yaw_rate': 0.0, 'effort': 0.5168029305876957, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.969556968105326, 'saturation': 0.007222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 462.5837427076321, 'return': 9714.419132596497, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:31,160Z INFO episode phase=validation condition=height__+0.2000 seed=110006 metrics={'x_velocity': 10.670735889660342, 'y_velocity': 0.0, 'planar_speed': 10.670735889660342, 'height': 0.6726772669166788, 'yaw_rate': 0.0, 'effort': 0.5095309186395671, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.36501733797824, 'saturation': 0.004629629629629629, 'length': 1000.0, 'failure': 0.0, 'distance': 480.18311503471546, 'return': 10087.454426412589, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:31,174Z INFO episode phase=validation condition=height__+0.2000 seed=110007 metrics={'x_velocity': 10.380957163585196, 'y_velocity': 0.0, 'planar_speed': 10.380957163585196, 'height': 0.678253266239402, 'yaw_rate': 0.0, 'effort': 0.5209751455154684, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.068372076971302, 'saturation': 0.011111111111111112, 'length': 1000.0, 'failure': 0.0, 'distance': 467.14307236133385, 'return': 9908.297862690768, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:31,826Z INFO episode phase=validation condition=height__+0.2000 seed=110008 metrics={'x_velocity': 10.457795274928477, 'y_velocity': 0.0, 'planar_speed': 10.457795274928477, 'height': 0.676053417729406, 'yaw_rate': 0.0, 'effort': 0.5204347538451354, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.145534422333306, 'saturation': 0.009444444444444443, 'length': 1000.0, 'failure': 0.0, 'distance': 470.6007873717815, 'return': 9921.938807668215, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:31,838Z INFO episode phase=validation condition=height__+0.2000 seed=110009 metrics={'x_velocity': 10.458486594855579, 'y_velocity': 0.0, 'planar_speed': 10.458486594855579, 'height': 0.6689275885796755, 'yaw_rate': 0.0, 'effort': 0.5201838795923525, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.146376267476008, 'saturation': 0.0038888888888888888, 'length': 1000.0, 'failure': 0.0, 'distance': 470.63189676850106, 'return': 9913.486286464311, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:31,851Z INFO validation {'vector': 'height', 'behavior': 'height', 'alpha': 0.2, 'effect': {'behavior': 'height', 'effect': 0.08028125364798445, 'ci95': [0.07825499903803546, 0.08233655299810141], 'relative_effect': 0.13544049231109553, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6730231455157807, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.327904208077552, 'effort': 0.5181409163818591, 'height': 0.6730231455157807, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 10.327904208077552, 'saturation': 0.009148148148148147, 'reward': 10.01701965826905, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:32,627Z INFO episode phase=validation condition=height__+0.5000 seed=110002 metrics={'x_velocity': 0.6158823081015511, 'y_velocity': 0.0, 'planar_speed': 0.6160109710377709, 'height': 0.17503276554998498, 'yaw_rate': 0.0, 'effort': 0.05703808116416136, 'inversion': 0.9477777777777778, 'bad_contact': 0.9333333333333333, 'reward': 0.5816594597325354, 'saturation': 0.007407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 27.7147038645698, 'return': 1287.7117653830812, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:32,641Z INFO episode phase=validation condition=height__+0.5000 seed=110000 metrics={'x_velocity': 1.1664472060333246, 'y_velocity': 0.0, 'planar_speed': 1.325791098070407, 'height': 0.2160071027902527, 'yaw_rate': 0.0, 'effort': 0.19284708825095245, 'inversion': 0.8822222222222222, 'bad_contact': 0.6311111111111111, 'reward': 1.0507389530414646, 'saturation': 0.008703703703703705, 'length': 1000.0, 'failure': 0.0, 'distance': 52.49012427149961, 'return': 1680.2821000762015, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:32,657Z INFO episode phase=validation condition=height__+0.5000 seed=110003 metrics={'x_velocity': 0.6820059778415685, 'y_velocity': 0.0, 'planar_speed': 0.6867806423990126, 'height': 0.6295571830029713, 'yaw_rate': 0.0, 'effort': 0.05403326748042471, 'inversion': 0.01, 'bad_contact': 0.9144444444444444, 'reward': 0.6495860174379606, 'saturation': 0.00537037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 30.690269002870583, 'return': 1419.399344769175, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:32,672Z INFO episode phase=validation condition=height__+0.5000 seed=110001 metrics={'x_velocity': 3.9919977444394195, 'y_velocity': 0.0, 'planar_speed': 4.033431572325122, 'height': 0.6746386394698358, 'yaw_rate': 0.0, 'effort': 0.4778338229159514, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 3.7052974509050878, 'saturation': 0.058703703703703695, 'length': 1000.0, 'failure': 0.0, 'distance': 179.6398984997739, 'return': 4017.6304549454253, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:33,430Z INFO episode phase=validation condition=height__+0.5000 seed=110006 metrics={'x_velocity': 3.3132235180690928, 'y_velocity': 0.0, 'planar_speed': 3.3372615123809224, 'height': 0.6600153860531783, 'yaw_rate': 0.0, 'effort': 0.5365330677976211, 'inversion': 0.0, 'bad_contact': 0.13, 'reward': 2.9913036775403605, 'saturation': 0.08092592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 149.09505831310918, 'return': 3451.112132018496, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:33,446Z INFO episode phase=validation condition=height__+0.5000 seed=110004 metrics={'x_velocity': 1.8539119195513698, 'y_velocity': 0.0, 'planar_speed': 1.9393766919338054, 'height': 0.6311942807383716, 'yaw_rate': 0.0, 'effort': 0.6683549186835687, 'inversion': 0.0, 'bad_contact': 0.5566666666666666, 'reward': 1.452898967892538, 'saturation': 0.13092592592592595, 'length': 1000.0, 'failure': 0.0, 'distance': 83.42603637981165, 'return': 2092.777001539296, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:33,459Z INFO episode phase=validation condition=height__+0.5000 seed=110005 metrics={'x_velocity': 2.2126688522581404, 'y_velocity': 0.0, 'planar_speed': 2.3166444338562022, 'height': 0.4284253823728059, 'yaw_rate': 0.0, 'effort': 0.33273094899745453, 'inversion': 0.48, 'bad_contact': 0.3288888888888889, 'reward': 2.0130302827903352, 'saturation': 0.03796296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 99.57009835161631, 'return': 2553.545115813007, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:33,475Z INFO episode phase=validation condition=height__+0.5000 seed=110007 metrics={'x_velocity': 4.362627590189343, 'y_velocity': 0.0, 'planar_speed': 4.362627590189343, 'height': 0.6664017337492185, 'yaw_rate': 0.0, 'effort': 0.4690335798517076, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 4.081207442608524, 'saturation': 0.04833333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 196.31824155852047, 'return': 4519.849691764268, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:34,166Z INFO episode phase=validation condition=height__+0.5000 seed=110009 metrics={'x_velocity': 0.6281898232683376, 'y_velocity': 0.0, 'planar_speed': 0.6334895939885183, 'height': 0.6269184970106418, 'yaw_rate': 0.0, 'effort': 0.052707018967097, 'inversion': 0.008888888888888889, 'bad_contact': 0.9144444444444444, 'reward': 0.5965656118849751, 'saturation': 0.004814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 28.268542047075194, 'return': 1318.6566964323818, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:34,180Z INFO episode phase=validation condition=height__+0.5000 seed=110008 metrics={'x_velocity': 1.246988434845106, 'y_velocity': 0.0, 'planar_speed': 1.4083066459129006, 'height': 0.2462992062698168, 'yaw_rate': 0.0, 'effort': 0.20907099867239595, 'inversion': 0.8377777777777777, 'bad_contact': 0.5822222222222222, 'reward': 1.121545835690925, 'saturation': 0.009444444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 56.114479568029765, 'return': 1800.3490796900714, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:34,194Z INFO validation {'vector': 'height', 'behavior': 'height', 'alpha': 0.5, 'effect': {'behavior': 'height', 'effect': -0.09729287416708846, 'ci95': [-0.21658678392329536, 0.01728526407759367], 'relative_effect': -0.16414037121707006, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.4954490177007077, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.0073943374597256, 'effort': 0.3050182792781335, 'height': 0.4954490177007077, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.3166666666666667, 'bad_contact': 0.4993333333333333, 'planar_speed': 2.065972075209401, 'saturation': 0.03925925925925926, 'reward': 1.8243833699524707, 'failure': 0.8, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.3166666666666667, 'bad_contact': 0.4993333333333333, 'failure': 0.8}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:34,983Z INFO episode phase=validation condition=height_random0__-0.5000 seed=110001 metrics={'x_velocity': 6.245699585452117, 'y_velocity': 0.0, 'planar_speed': 6.245699585452117, 'height': 0.6499045023376407, 'yaw_rate': 0.0, 'effort': 0.6416980801357164, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 5.860680737006436, 'saturation': 0.1524074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 281.0564813453453, 'return': 5957.475412436639, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:35,000Z INFO episode phase=validation condition=height_random0__-0.5000 seed=110000 metrics={'x_velocity': 5.465311961886753, 'y_velocity': 0.0, 'planar_speed': 5.523149315240412, 'height': 0.5767378335030947, 'yaw_rate': 0.0, 'effort': 0.5497649601474405, 'inversion': 0.1922222222222222, 'bad_contact': 0.11, 'reward': 5.135452985861205, 'saturation': 0.11814814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 245.9390382849039, 'return': 5356.524729613968, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:35,015Z INFO episode phase=validation condition=height_random0__-0.5000 seed=110002 metrics={'x_velocity': 4.094972844913111, 'y_velocity': 0.0, 'planar_speed': 4.133006568669835, 'height': 0.5131537620929918, 'yaw_rate': 0.0, 'effort': 0.5083850625881718, 'inversion': 0.34, 'bad_contact': 0.16333333333333333, 'reward': 3.789941807323369, 'saturation': 0.11148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 184.27377802109, 'return': 4175.1658782148315, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:35,032Z INFO episode phase=validation condition=height_random0__-0.5000 seed=110003 metrics={'x_velocity': 6.4871519406567755, 'y_velocity': 0.0, 'planar_speed': 6.4871519406567755, 'height': 0.6539305912811293, 'yaw_rate': 0.0, 'effort': 0.6455306880838341, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 6.099833528207151, 'saturation': 0.16166666666666665, 'length': 1000.0, 'failure': 0.0, 'distance': 291.92183732955493, 'return': 6324.622104461445, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:35,756Z INFO episode phase=validation condition=height_random0__-0.5000 seed=110006 metrics={'x_velocity': 5.885542132987159, 'y_velocity': 0.0, 'planar_speed': 5.885542132987159, 'height': 0.6463691554736604, 'yaw_rate': 0.0, 'effort': 0.634764604775442, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 5.50468337034541, 'saturation': 0.14518518518518517, 'length': 1000.0, 'failure': 0.0, 'distance': 264.8493959844222, 'return': 5713.1538555430425, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:35,769Z INFO episode phase=validation condition=height_random0__-0.5000 seed=110007 metrics={'x_velocity': 4.330250682725628, 'y_velocity': 0.0, 'planar_speed': 4.436819169916495, 'height': 0.652176662946724, 'yaw_rate': 0.0, 'effort': 0.6256674640542931, 'inversion': 0.0044444444444444444, 'bad_contact': 0.03111111111111111, 'reward': 3.9548502041904006, 'saturation': 0.165, 'length': 1000.0, 'failure': 0.0, 'distance': 194.8612807226533, 'return': 4406.128177187957, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:35,784Z INFO episode phase=validation condition=height_random0__-0.5000 seed=110005 metrics={'x_velocity': 1.3705557593298225, 'y_velocity': 0.0, 'planar_speed': 1.4997169770970797, 'height': 0.2372143011047719, 'yaw_rate': 0.0, 'effort': 0.2630744511302974, 'inversion': 0.96, 'bad_contact': 0.4622222222222222, 'reward': 1.2127110885020116, 'saturation': 0.013703703703703704, 'length': 1000.0, 'failure': 0.0, 'distance': 61.67500916984202, 'return': 1833.257840953515, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:35,795Z INFO episode phase=validation condition=height_random0__-0.5000 seed=110004 metrics={'x_velocity': 1.34892111735161, 'y_velocity': 0.0, 'planar_speed': 1.4958159572747245, 'height': 0.23184031438916816, 'yaw_rate': 0.0, 'effort': 0.2732168398650053, 'inversion': 0.9566666666666667, 'bad_contact': 0.42, 'reward': 1.1849910132278714, 'saturation': 0.009074074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 60.701450280822456, 'return': 1851.659842341096, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:36,460Z INFO episode phase=validation condition=height_random0__-0.5000 seed=110009 metrics={'x_velocity': 4.661925485687491, 'y_velocity': 0.0, 'planar_speed': 4.7144255463360425, 'height': 0.5833544676471593, 'yaw_rate': 0.0, 'effort': 0.5646413055248558, 'inversion': 0.17333333333333334, 'bad_contact': 0.10666666666666667, 'reward': 4.323140702168101, 'saturation': 0.12944444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 209.78664685593714, 'return': 4672.574277687195, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:36,480Z INFO episode phase=validation condition=height_random0__-0.5000 seed=110008 metrics={'x_velocity': 6.034006504668548, 'y_velocity': 0.0, 'planar_speed': 6.034006504668548, 'height': 0.643343170665619, 'yaw_rate': 0.0, 'effort': 0.6330066923300425, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 5.6542024888698466, 'saturation': 0.15740740740740738, 'length': 1000.0, 'failure': 0.0, 'distance': 271.53029271008467, 'return': 5879.740067551102, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:36,491Z INFO validation {'vector': 'height_random0', 'behavior': 'height', 'alpha': -0.5, 'effect': {'behavior': 'height', 'effect': -0.0539394157236003, 'ci95': [-0.16523018811215565, 0.03562102128587873], 'relative_effect': -0.09099983730461696, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.538802476144196, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 4.592433801565901, 'effort': 0.5339750148635098, 'height': 0.538802476144196, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.26266666666666666, 'bad_contact': 0.12966666666666665, 'planar_speed': 4.645533369829919, 'saturation': 0.11635185185185186, 'reward': 4.272048792570181, 'failure': 0.5, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.26266666666666666, 'bad_contact': 0.12966666666666665, 'failure': 0.5}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:37,260Z INFO episode phase=validation condition=height_random0__-0.2000 seed=110002 metrics={'x_velocity': 10.907373366334792, 'y_velocity': 0.0, 'planar_speed': 10.907373366334792, 'height': 0.6548334607834545, 'yaw_rate': 0.0, 'effort': 0.647141062501404, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.519088728512749, 'saturation': 0.07203703703703704, 'length': 1000.0, 'failure': 0.0, 'distance': 490.8318014850656, 'return': 10231.398107285273, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:37,275Z INFO episode phase=validation condition=height_random0__-0.2000 seed=110003 metrics={'x_velocity': 11.117912400160959, 'y_velocity': 0.0, 'planar_speed': 11.117912400160959, 'height': 0.655319807094426, 'yaw_rate': 0.0, 'effort': 0.6510665917810466, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.72727244495491, 'saturation': 0.06981481481481482, 'length': 1000.0, 'failure': 0.0, 'distance': 500.30605800724317, 'return': 10489.31712953443, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:37,288Z INFO episode phase=validation condition=height_random0__-0.2000 seed=110000 metrics={'x_velocity': 10.915066369896499, 'y_velocity': 0.0, 'planar_speed': 10.915066369896499, 'height': 0.6562733052571784, 'yaw_rate': 0.0, 'effort': 0.6439027849833171, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.528724698793921, 'saturation': 0.06277777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 491.1779866453425, 'return': 10210.469271253412, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:37,302Z INFO episode phase=validation condition=height_random0__-0.2000 seed=110001 metrics={'x_velocity': 11.360007125483818, 'y_velocity': 0.0, 'planar_speed': 11.360007125483818, 'height': 0.6546734579847169, 'yaw_rate': 0.0, 'effort': 0.6483447680208418, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.97100026473754, 'saturation': 0.06425925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 511.20032064677184, 'return': 10556.762987394632, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:38,017Z INFO episode phase=validation condition=height_random0__-0.2000 seed=110006 metrics={'x_velocity': 0.623330995730359, 'y_velocity': 0.0, 'planar_speed': 0.628930874993711, 'height': 0.5478454568847181, 'yaw_rate': 0.0, 'effort': 0.03686667856915544, 'inversion': 0.024444444444444446, 'bad_contact': 0.9177777777777778, 'reward': 0.6012109886483669, 'saturation': 0.0037037037037037034, 'length': 1000.0, 'failure': 0.0, 'distance': 28.049894807866156, 'return': 1300.028712015703, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:38,030Z INFO episode phase=validation condition=height_random0__-0.2000 seed=110004 metrics={'x_velocity': 11.104163222266527, 'y_velocity': 0.0, 'planar_speed': 11.104163222266527, 'height': 0.6595194428671971, 'yaw_rate': 0.0, 'effort': 0.6389531093173557, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.720791357404616, 'saturation': 0.06018518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 499.6873450019937, 'return': 10433.880152100166, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:38,044Z INFO episode phase=validation condition=height_random0__-0.2000 seed=110005 metrics={'x_velocity': 6.763770152970501, 'y_velocity': 0.0, 'planar_speed': 6.815515381445081, 'height': 0.459989900350993, 'yaw_rate': 0.0, 'effort': 0.4643937279894534, 'inversion': 0.44555555555555554, 'bad_contact': 0.20555555555555555, 'reward': 6.485133916135643, 'saturation': 0.03574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 304.3696568836726, 'return': 6578.438385823783, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:38,066Z INFO episode phase=validation condition=height_random0__-0.2000 seed=110007 metrics={'x_velocity': 10.61482924742448, 'y_velocity': 0.0, 'planar_speed': 10.61482924742448, 'height': 0.6649791434913485, 'yaw_rate': 0.0, 'effort': 0.6522090243299802, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.22350383308478, 'saturation': 0.075, 'length': 1000.0, 'failure': 0.0, 'distance': 477.6673161341016, 'return': 10047.916443192897, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:38,750Z INFO episode phase=validation condition=height_random0__-0.2000 seed=110008 metrics={'x_velocity': 11.314972799239982, 'y_velocity': 0.0, 'planar_speed': 11.314972799239982, 'height': 0.6552908927207465, 'yaw_rate': 0.0, 'effort': 0.6479587757670217, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.926197533281407, 'saturation': 0.059444444444444446, 'length': 1000.0, 'failure': 0.0, 'distance': 509.1737759657992, 'return': 10624.535607521506, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:38,765Z INFO episode phase=validation condition=height_random0__-0.2000 seed=110009 metrics={'x_velocity': 10.643433206385295, 'y_velocity': 0.0, 'planar_speed': 10.643433206385295, 'height': 0.6608097912995736, 'yaw_rate': 0.0, 'effort': 0.6466709699398941, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.255430624040551, 'saturation': 0.07092592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 478.9544942873383, 'return': 10011.635207372401, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:38,778Z INFO validation {'vector': 'height_random0', 'behavior': 'height', 'alpha': -0.2, 'effect': {'behavior': 'height', 'effect': 0.034211574005639026, 'ci95': [-0.007872257873216309, 0.06558627519793414], 'relative_effect': 0.05771748964432819, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6269534658734353, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 9.536485888589322, 'effort': 0.567750749319947, 'height': 0.6269534658734353, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.047, 'bad_contact': 0.11233333333333333, 'planar_speed': 9.542220399363114, 'saturation': 0.05738888888888889, 'reward': 9.195835438959449, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.047, 'bad_contact': 0.11233333333333333, 'failure': 0.2}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:39,537Z INFO episode phase=validation condition=height_random0__-0.1000 seed=110000 metrics={'x_velocity': 14.176032565376978, 'y_velocity': 0.0, 'planar_speed': 14.176032565376978, 'height': 0.6257519909474393, 'yaw_rate': 0.0, 'effort': 0.6768054213292068, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.769949312642371, 'saturation': 0.037037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 637.9214654419641, 'return': 13127.571423717018, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:39,552Z INFO episode phase=validation condition=height_random0__-0.1000 seed=110002 metrics={'x_velocity': 14.46596242204959, 'y_velocity': 0.0, 'planar_speed': 14.46596242204959, 'height': 0.6256982532205355, 'yaw_rate': 0.0, 'effort': 0.6860537728170554, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.054330157938812, 'saturation': 0.043703703703703696, 'length': 1000.0, 'failure': 0.0, 'distance': 650.9683089922315, 'return': 13413.11539376873, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:39,566Z INFO episode phase=validation condition=height_random0__-0.1000 seed=110003 metrics={'x_velocity': 14.358113389077088, 'y_velocity': 0.0, 'planar_speed': 14.358113389077088, 'height': 0.617320382615271, 'yaw_rate': 0.0, 'effort': 0.6796027844813135, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.950351718474396, 'saturation': 0.04666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 646.115102508469, 'return': 13390.088475701967, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:39,580Z INFO episode phase=validation condition=height_random0__-0.1000 seed=110001 metrics={'x_velocity': 7.779153383461687, 'y_velocity': 0.0, 'planar_speed': 7.8168020994752485, 'height': 0.40567257357961645, 'yaw_rate': 0.0, 'effort': 0.46998027765606015, 'inversion': 0.5511111111111111, 'bad_contact': 0.24222222222222223, 'reward': 7.4971652168239675, 'saturation': 0.027037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 350.061902255776, 'return': 7430.311444272418, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:40,256Z INFO episode phase=validation condition=height_random0__-0.1000 seed=110006 metrics={'x_velocity': 13.772153161085612, 'y_velocity': 0.0, 'planar_speed': 13.772153161085612, 'height': 0.6294527008090414, 'yaw_rate': 0.0, 'effort': 0.6673104263842106, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.371766905059715, 'saturation': 0.04981481481481481, 'length': 1000.0, 'failure': 0.0, 'distance': 619.7468922488525, 'return': 12793.529036785916, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:40,273Z INFO episode phase=validation condition=height_random0__-0.1000 seed=110005 metrics={'x_velocity': 14.547314654563946, 'y_velocity': 0.0, 'planar_speed': 14.547314654563946, 'height': 0.6212265358152997, 'yaw_rate': 0.0, 'effort': 0.6902253468003537, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.1331794464738, 'saturation': 0.04925925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 654.6291594553777, 'return': 13461.679363128125, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:40,287Z INFO episode phase=validation condition=height_random0__-0.1000 seed=110004 metrics={'x_velocity': 13.05709317215692, 'y_velocity': 0.0, 'planar_speed': 13.05709317215692, 'height': 0.6582857243370074, 'yaw_rate': 0.0, 'effort': 0.680552662478553, 'inversion': 0.0011111111111111111, 'bad_contact': 0.0011111111111111111, 'reward': 12.648761574424748, 'saturation': 0.061481481481481484, 'length': 1000.0, 'failure': 0.0, 'distance': 587.5691927470615, 'return': 12169.053347418285, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:40,299Z INFO episode phase=validation condition=height_random0__-0.1000 seed=110007 metrics={'x_velocity': 12.957688789010911, 'y_velocity': 0.0, 'planar_speed': 12.957688789010911, 'height': 0.6679790806122102, 'yaw_rate': 0.0, 'effort': 0.6766296828786532, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.551710979197624, 'saturation': 0.05814814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 583.095995505491, 'return': 12143.302874694458, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:40,967Z INFO episode phase=validation condition=height_random0__-0.1000 seed=110008 metrics={'x_velocity': 13.925324401405431, 'y_velocity': 0.0, 'planar_speed': 13.925324401405431, 'height': 0.6274988079954906, 'yaw_rate': 0.0, 'effort': 0.6760079549584124, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.51971962808269, 'saturation': 0.04814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 626.6395980632444, 'return': 12958.705492842659, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:40,985Z INFO episode phase=validation condition=height_random0__-0.1000 seed=110009 metrics={'x_velocity': 14.637386102288229, 'y_velocity': 0.0, 'planar_speed': 14.637386102288229, 'height': 0.6193491188468314, 'yaw_rate': 0.0, 'effort': 0.6810188139809502, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.228774814336761, 'saturation': 0.043333333333333335, 'length': 1000.0, 'failure': 0.0, 'distance': 658.6823746029704, 'return': 13587.644978638988, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:40,998Z INFO validation {'vector': 'height_random0', 'behavior': 'height', 'alpha': -0.1, 'effect': {'behavior': 'height', 'effect': 0.017081625010078066, 'ci95': [-0.033731974894249665, 0.04798555396226887], 'relative_effect': 0.02881798172936951, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6098235168778744, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 13.367622204047638, 'effort': 0.6584187143764768, 'height': 0.6098235168778744, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.055222222222222214, 'bad_contact': 0.024333333333333335, 'planar_speed': 13.371387075648993, 'saturation': 0.04646296296296296, 'reward': 12.972570975345487, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.055222222222222214, 'bad_contact': 0.024333333333333335, 'failure': 0.1}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:41,766Z INFO episode phase=validation condition=height_random0__-0.0500 seed=110003 metrics={'x_velocity': 16.177996522107712, 'y_velocity': 0.0, 'planar_speed': 16.177996522107712, 'height': 0.5934486100986762, 'yaw_rate': 0.0, 'effort': 0.7037128585245874, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.755768806920107, 'saturation': 0.014999999999999998, 'length': 1000.0, 'failure': 0.0, 'distance': 728.009843494847, 'return': 15014.963855303107, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:41,782Z INFO episode phase=validation condition=height_random0__-0.0500 seed=110000 metrics={'x_velocity': 15.825619109358637, 'y_velocity': 0.0, 'planar_speed': 15.825619109358637, 'height': 0.5983516881336353, 'yaw_rate': 0.0, 'effort': 0.6947480804390378, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.40877026122767, 'saturation': 0.019444444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 712.1528599211388, 'return': 14602.510277443787, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:41,797Z INFO episode phase=validation condition=height_random0__-0.0500 seed=110001 metrics={'x_velocity': 16.419396864483613, 'y_velocity': 0.0, 'planar_speed': 16.419396864483613, 'height': 0.5886869345445269, 'yaw_rate': 0.0, 'effort': 0.707744511961937, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.994750157134263, 'saturation': 0.013148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 738.8728589017627, 'return': 15078.137890551681, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:41,811Z INFO episode phase=validation condition=height_random0__-0.0500 seed=110002 metrics={'x_velocity': 16.451545908220787, 'y_velocity': 0.0, 'planar_speed': 16.451545908220787, 'height': 0.5874493422613244, 'yaw_rate': 0.0, 'effort': 0.7078140390250418, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.026857484984575, 'saturation': 0.012962962962962964, 'length': 1000.0, 'failure': 0.0, 'distance': 740.3195658699354, 'return': 15188.389988109917, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:42,490Z INFO episode phase=validation condition=height_random0__-0.0500 seed=110004 metrics={'x_velocity': 16.414030785186142, 'y_velocity': 0.0, 'planar_speed': 16.414030785186142, 'height': 0.5887305717037438, 'yaw_rate': 0.0, 'effort': 0.7085154062840674, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.988921541130924, 'saturation': 0.013148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 738.6313853333764, 'return': 15175.197317453845, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:42,502Z INFO episode phase=validation condition=height_random0__-0.0500 seed=110005 metrics={'x_velocity': 16.338235561174095, 'y_velocity': 0.0, 'planar_speed': 16.338235561174095, 'height': 0.5911052571631611, 'yaw_rate': 0.0, 'effort': 0.7052768314547009, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.915069462393994, 'saturation': 0.012592592592592591, 'length': 1000.0, 'failure': 0.0, 'distance': 735.2206002528343, 'return': 15065.380377456298, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:42,516Z INFO episode phase=validation condition=height_random0__-0.0500 seed=110007 metrics={'x_velocity': 15.993664312354106, 'y_velocity': 0.0, 'planar_speed': 15.993664312354106, 'height': 0.5964766930484267, 'yaw_rate': 0.0, 'effort': 0.7030961751606729, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.571806607992828, 'saturation': 0.017407407407407406, 'length': 1000.0, 'failure': 0.0, 'distance': 719.7148940559348, 'return': 14861.38894061014, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:42,527Z INFO episode phase=validation condition=height_random0__-0.0500 seed=110006 metrics={'x_velocity': 16.52549219413875, 'y_velocity': 0.0, 'planar_speed': 16.52549219413875, 'height': 0.5867254142226124, 'yaw_rate': 0.0, 'effort': 0.7088215990861257, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.1001992343162, 'saturation': 0.01074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 743.6471487362437, 'return': 15249.118133116754, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:43,196Z INFO episode phase=validation condition=height_random0__-0.0500 seed=110008 metrics={'x_velocity': 15.854050346980506, 'y_velocity': 0.0, 'planar_speed': 15.854050346980506, 'height': 0.5969497546128375, 'yaw_rate': 0.0, 'effort': 0.6961859471102556, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.436338778956083, 'saturation': 0.025, 'length': 1000.0, 'failure': 0.0, 'distance': 713.4322656141228, 'return': 14683.662728628713, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:43,215Z INFO episode phase=validation condition=height_random0__-0.0500 seed=110009 metrics={'x_velocity': 16.093642639275583, 'y_velocity': 0.0, 'planar_speed': 16.093642639275583, 'height': 0.5966410853048504, 'yaw_rate': 0.0, 'effort': 0.7055447337031364, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.670315799007344, 'saturation': 0.0187037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 724.2139187674013, 'return': 14885.031864842513, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:43,230Z INFO validation {'vector': 'height_random0', 'behavior': 'height', 'alpha': -0.05, 'effect': {'behavior': 'height', 'effect': -0.0002853567584167771, 'ci95': [-0.002879159100783611, 0.002257963104540061], 'relative_effect': -0.0004814182401004018, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5924565351093795, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.20936742432799, 'effort': 0.7041460182749562, 'height': 0.5924565351093795, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.20936742432799, 'saturation': 0.015814814814814813, 'reward': 15.786879813406397, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:43,979Z INFO episode phase=validation condition=height_random0__+0.0500 seed=110002 metrics={'x_velocity': 15.738758245536983, 'y_velocity': 0.0, 'planar_speed': 15.738758245536983, 'height': 0.625693961500815, 'yaw_rate': 0.0, 'effort': 0.6160910458034939, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.369103618001906, 'saturation': 0.012222222222222223, 'length': 1000.0, 'failure': 0.0, 'distance': 708.2441210491643, 'return': 14596.411507825514, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:43,995Z INFO episode phase=validation condition=height_random0__+0.0500 seed=110003 metrics={'x_velocity': 15.930369406722047, 'y_velocity': 0.0, 'planar_speed': 15.930369406722047, 'height': 0.6247306437512192, 'yaw_rate': 0.0, 'effort': 0.6131949031684134, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.562452464589203, 'saturation': 0.007962962962962962, 'length': 1000.0, 'failure': 0.0, 'distance': 716.8666233024921, 'return': 14840.979147205293, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:44,010Z INFO episode phase=validation condition=height_random0__+0.0500 seed=110000 metrics={'x_velocity': 15.618511511907082, 'y_velocity': 0.0, 'planar_speed': 15.618511511907082, 'height': 0.6261021294865953, 'yaw_rate': 0.0, 'effort': 0.6143086822827657, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.24992630219304, 'saturation': 0.008888888888888887, 'length': 1000.0, 'failure': 0.0, 'distance': 702.8330180358188, 'return': 14459.55071431262, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:44,023Z INFO episode phase=validation condition=height_random0__+0.0500 seed=110001 metrics={'x_velocity': 15.784786592260215, 'y_velocity': 0.0, 'planar_speed': 15.784786592260215, 'height': 0.6263080838555467, 'yaw_rate': 0.0, 'effort': 0.6090485695666737, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.419357450632797, 'saturation': 0.006111111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 710.3153966517098, 'return': 14560.284454700362, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:44,719Z INFO episode phase=validation condition=height_random0__+0.0500 seed=110005 metrics={'x_velocity': 15.870980080347836, 'y_velocity': 0.0, 'planar_speed': 15.870980080347836, 'height': 0.6260588244337149, 'yaw_rate': 0.0, 'effort': 0.6009860711627536, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.510388437915095, 'saturation': 0.0031481481481481477, 'length': 1000.0, 'failure': 0.0, 'distance': 714.1941036156527, 'return': 14701.16745542529, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:44,738Z INFO episode phase=validation condition=height_random0__+0.0500 seed=110004 metrics={'x_velocity': 15.737576446489609, 'y_velocity': 0.0, 'planar_speed': 15.737576446489609, 'height': 0.6250292182620855, 'yaw_rate': 0.0, 'effort': 0.6128156502379312, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.369887056413077, 'saturation': 0.009259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 708.1909400920324, 'return': 14618.06628120778, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:44,751Z INFO episode phase=validation condition=height_random0__+0.0500 seed=110006 metrics={'x_velocity': 15.767351886497122, 'y_velocity': 0.0, 'planar_speed': 15.767351886497122, 'height': 0.6249866860524975, 'yaw_rate': 0.0, 'effort': 0.6089646791087256, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.401973078872944, 'saturation': 0.007222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 709.5308348923705, 'return': 14620.714593217821, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:44,766Z INFO episode phase=validation condition=height_random0__+0.0500 seed=110007 metrics={'x_velocity': 15.89552846932152, 'y_velocity': 0.0, 'planar_speed': 15.89552846932152, 'height': 0.6240888278137844, 'yaw_rate': 0.0, 'effort': 0.6100237034757932, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.529514247202933, 'saturation': 0.008333333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 715.2987811194685, 'return': 14823.325815899236, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:45,427Z INFO episode phase=validation condition=height_random0__+0.0500 seed=110008 metrics={'x_velocity': 15.81994047998988, 'y_velocity': 0.0, 'planar_speed': 15.81994047998988, 'height': 0.6243267123081145, 'yaw_rate': 0.0, 'effort': 0.6096758570108148, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.454134965760213, 'saturation': 0.006481481481481481, 'length': 1000.0, 'failure': 0.0, 'distance': 711.8973215995446, 'return': 14699.679296752429, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:45,482Z INFO episode phase=validation condition=height_random0__+0.0500 seed=110009 metrics={'x_velocity': 15.719712430198257, 'y_velocity': 0.0, 'planar_speed': 15.719712430198257, 'height': 0.6258046620171297, 'yaw_rate': 0.0, 'effort': 0.6131190674006939, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.35184098970817, 'saturation': 0.008703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 707.3870593589216, 'return': 14598.404536473256, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:45,495Z INFO validation {'vector': 'height_random0', 'behavior': 'height', 'alpha': 0.05, 'effect': {'behavior': 'height', 'effect': 0.03257108308035404, 'ci95': [0.03211600652752842, 0.033032535020744394], 'relative_effect': 0.05494985849189586, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6253129749481503, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.788351554927056, 'effort': 0.6108228229218059, 'height': 0.6253129749481503, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 15.788351554927056, 'saturation': 0.007833333333333333, 'reward': 15.421857861128936, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': True, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:46,229Z INFO episode phase=validation condition=height_random0__+0.1000 seed=110003 metrics={'x_velocity': 14.994336135052906, 'y_velocity': 0.0, 'planar_speed': 14.994336135052906, 'height': 0.6428775656512244, 'yaw_rate': 0.0, 'effort': 0.5897934014101823, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.64046009426309, 'saturation': 0.008888888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 674.7451260773809, 'return': 14011.186013911793, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:46,243Z INFO episode phase=validation condition=height_random0__+0.1000 seed=110002 metrics={'x_velocity': 15.118137790723114, 'y_velocity': 0.0, 'planar_speed': 15.118137790723114, 'height': 0.6421360296653352, 'yaw_rate': 0.0, 'effort': 0.5875222860773405, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.765624418858158, 'saturation': 0.004814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 680.3162005825402, 'return': 14053.280228596142, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:46,256Z INFO episode phase=validation condition=height_random0__+0.1000 seed=110000 metrics={'x_velocity': 15.127981245877029, 'y_velocity': 0.0, 'planar_speed': 15.127981245877029, 'height': 0.6397493816664956, 'yaw_rate': 0.0, 'effort': 0.5881556160582436, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.775087876321557, 'saturation': 0.006666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 680.7591560644664, 'return': 14032.196131028282, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:46,273Z INFO episode phase=validation condition=height_random0__+0.1000 seed=110001 metrics={'x_velocity': 15.09930127892221, 'y_velocity': 0.0, 'planar_speed': 15.09930127892221, 'height': 0.6424952547912773, 'yaw_rate': 0.0, 'effort': 0.5898351162340906, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.74540020902943, 'saturation': 0.008518518518518517, 'length': 1000.0, 'failure': 0.0, 'distance': 679.4685575514995, 'return': 13953.722937257335, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:46,975Z INFO episode phase=validation condition=height_random0__+0.1000 seed=110004 metrics={'x_velocity': 15.008110970196535, 'y_velocity': 0.0, 'planar_speed': 15.008110970196535, 'height': 0.6406108920167571, 'yaw_rate': 0.0, 'effort': 0.5913369388050503, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.65330880711219, 'saturation': 0.010555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 675.3649936588441, 'return': 13973.145856836982, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:47,012Z INFO episode phase=validation condition=height_random0__+0.1000 seed=110005 metrics={'x_velocity': 15.061520965975062, 'y_velocity': 0.0, 'planar_speed': 15.061520965975062, 'height': 0.6403801745859939, 'yaw_rate': 0.0, 'effort': 0.5865349735650751, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.709599981336, 'saturation': 0.008888888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 677.7684434688778, 'return': 13980.457844504104, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:47,024Z INFO episode phase=validation condition=height_random0__+0.1000 seed=110006 metrics={'x_velocity': 15.027958591346954, 'y_velocity': 0.0, 'planar_speed': 15.027958591346954, 'height': 0.642266416039996, 'yaw_rate': 0.0, 'effort': 0.591004324124919, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.673355996785906, 'saturation': 0.010370370370370368, 'length': 1000.0, 'failure': 0.0, 'distance': 676.258136610613, 'return': 13964.95921933949, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:47,039Z INFO episode phase=validation condition=height_random0__+0.1000 seed=110007 metrics={'x_velocity': 14.41820861862917, 'y_velocity': 0.0, 'planar_speed': 14.41820861862917, 'height': 0.6503303445458433, 'yaw_rate': 0.0, 'effort': 0.5953241301245159, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.061014140607442, 'saturation': 0.021296296296296292, 'length': 1000.0, 'failure': 0.0, 'distance': 648.8193878383127, 'return': 13501.675719963296, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:47,701Z INFO episode phase=validation condition=height_random0__+0.1000 seed=110008 metrics={'x_velocity': 15.294737158335131, 'y_velocity': 0.0, 'planar_speed': 15.294737158335131, 'height': 0.6396768542870349, 'yaw_rate': 0.0, 'effort': 0.5856974294450548, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.943318700827044, 'saturation': 0.004814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 688.2631721250809, 'return': 14239.94465831258, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:47,761Z INFO episode phase=validation condition=height_random0__+0.1000 seed=110009 metrics={'x_velocity': 14.886574061922678, 'y_velocity': 0.0, 'planar_speed': 14.886574061922678, 'height': 0.6432693004671791, 'yaw_rate': 0.0, 'effort': 0.5925502087672552, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.53104393635768, 'saturation': 0.013333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 669.8958327865206, 'return': 13859.687188457814, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:47,773Z INFO validation {'vector': 'height_random0', 'behavior': 'height', 'alpha': 0.1, 'effect': {'behavior': 'height', 'effect': 0.04963732950391747, 'ci95': [0.048055039846536494, 0.05170169411564247], 'relative_effect': 0.08374189539312749, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6423792213717137, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.00368668169808, 'effort': 0.5897754424611727, 'height': 0.6423792213717137, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 15.00368668169808, 'saturation': 0.009814814814814814, 'reward': 14.649821416149852, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:48,514Z INFO episode phase=validation condition=height_random0__+0.2000 seed=110003 metrics={'x_velocity': 13.383010823668815, 'y_velocity': 0.0, 'planar_speed': 13.383010823668815, 'height': 0.6601700824932284, 'yaw_rate': 0.0, 'effort': 0.5805951543152332, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.034653731010138, 'saturation': 0.056296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 602.2354870650968, 'return': 12565.960286984133, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:48,544Z INFO episode phase=validation condition=height_random0__+0.2000 seed=110001 metrics={'x_velocity': 13.739290026853782, 'y_velocity': 0.0, 'planar_speed': 13.739290026853782, 'height': 0.6571505877176851, 'yaw_rate': 0.0, 'effort': 0.5768883361087905, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.393157025367321, 'saturation': 0.04388888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 618.2680512084203, 'return': 12736.704071961434, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:48,558Z INFO episode phase=validation condition=height_random0__+0.2000 seed=110002 metrics={'x_velocity': 11.157319298155876, 'y_velocity': 0.0, 'planar_speed': 11.166767036896909, 'height': 0.6465739060096429, 'yaw_rate': 0.0, 'effort': 0.48783263044121367, 'inversion': 0.011111111111111112, 'bad_contact': 0.13444444444444445, 'reward': 10.864619719861553, 'saturation': 0.04814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 502.0793684170144, 'return': 10542.375999499196, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:48,576Z INFO episode phase=validation condition=height_random0__+0.2000 seed=110000 metrics={'x_velocity': 13.19533214427114, 'y_velocity': 0.0, 'planar_speed': 13.19533214427114, 'height': 0.6597260550187257, 'yaw_rate': 0.0, 'effort': 0.5760582523047924, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.849697192785614, 'saturation': 0.0511111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 593.7899464922014, 'return': 12299.344515845936, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:49,254Z INFO episode phase=validation condition=height_random0__+0.2000 seed=110004 metrics={'x_velocity': 13.50240570523156, 'y_velocity': 0.0, 'planar_speed': 13.50240570523156, 'height': 0.6598740460982636, 'yaw_rate': 0.0, 'effort': 0.572299175924725, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.159026199756198, 'saturation': 0.04555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 607.6082567354202, 'return': 12628.29151021659, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:49,277Z INFO episode phase=validation condition=height_random0__+0.2000 seed=110005 metrics={'x_velocity': 13.44250121905399, 'y_velocity': 0.0, 'planar_speed': 13.44250121905399, 'height': 0.6602532405658856, 'yaw_rate': 0.0, 'effort': 0.5757467629677719, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.097053161700492, 'saturation': 0.04722222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 604.9125548574295, 'return': 12529.165706832147, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:49,300Z INFO episode phase=validation condition=height_random0__+0.2000 seed=110007 metrics={'x_velocity': 13.635689369481728, 'y_velocity': 0.0, 'planar_speed': 13.635689369481728, 'height': 0.6596341342659862, 'yaw_rate': 0.0, 'effort': 0.5699380897316668, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.293726515573189, 'saturation': 0.04240740740740741, 'length': 1000.0, 'failure': 0.0, 'distance': 613.6060216266777, 'return': 12811.116857432466, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:49,316Z INFO episode phase=validation condition=height_random0__+0.2000 seed=110006 metrics={'x_velocity': 13.546586075567777, 'y_velocity': 0.0, 'planar_speed': 13.546586075567777, 'height': 0.6586737620987524, 'yaw_rate': 0.0, 'effort': 0.5759182595875528, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.201035119550337, 'saturation': 0.04703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 609.59637340055, 'return': 12639.870429827475, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:49,996Z INFO episode phase=validation condition=height_random0__+0.2000 seed=110008 metrics={'x_velocity': 13.657852258990683, 'y_velocity': 0.0, 'planar_speed': 13.657852258990683, 'height': 0.662362023456263, 'yaw_rate': 0.0, 'effort': 0.5725587634245555, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.314317000737267, 'saturation': 0.045370370370370366, 'length': 1000.0, 'failure': 0.0, 'distance': 614.6033516545808, 'return': 12773.843128231782, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:50,013Z INFO episode phase=validation condition=height_random0__+0.2000 seed=110009 metrics={'x_velocity': 13.234519019208633, 'y_velocity': 0.0, 'planar_speed': 13.234519019208633, 'height': 0.6651329916724454, 'yaw_rate': 0.0, 'effort': 0.5711507832672861, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.891828548420419, 'saturation': 0.05259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 595.5533558643885, 'return': 12384.39333931428, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:50,029Z INFO validation {'vector': 'height_random0', 'behavior': 'height', 'alpha': 0.2, 'effect': {'behavior': 'height', 'effect': 0.06621319107189161, 'ci95': [0.06286175446342077, 0.06862525596829043], 'relative_effect': 0.11170661628663772, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6589550829396877, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 13.249450594048398, 'effort': 0.5658986208073588, 'height': 0.6589550829396877, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0011111111111111111, 'bad_contact': 0.013444444444444445, 'planar_speed': 13.250395367922502, 'saturation': 0.04796296296296296, 'reward': 12.909911421476252, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.0011111111111111111, 'bad_contact': 0.013444444444444445, 'failure': 0.1}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:50,772Z INFO episode phase=validation condition=height_random0__+0.5000 seed=110001 metrics={'x_velocity': 3.4698409765853455, 'y_velocity': 0.0, 'planar_speed': 3.513853873356957, 'height': 0.6611291864903116, 'yaw_rate': 0.0, 'effort': 0.6354887715023425, 'inversion': 0.0, 'bad_contact': 0.016666666666666666, 'reward': 3.0885477132294543, 'saturation': 0.25166666666666665, 'length': 1000.0, 'failure': 0.0, 'distance': 156.14284394634058, 'return': 3462.555691037356, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:50,788Z INFO episode phase=validation condition=height_random0__+0.5000 seed=110002 metrics={'x_velocity': 3.157369275102493, 'y_velocity': 0.0, 'planar_speed': 3.2253649366554886, 'height': 0.6640436904936451, 'yaw_rate': 0.0, 'effort': 0.6595553560886118, 'inversion': 0.0, 'bad_contact': 0.022222222222222223, 'reward': 2.7616360620221925, 'saturation': 0.272037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 142.0816173796122, 'return': 3249.6907074437727, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:50,802Z INFO episode phase=validation condition=height_random0__+0.5000 seed=110003 metrics={'x_velocity': 4.008003865139793, 'y_velocity': 0.0, 'planar_speed': 4.040826261030217, 'height': 0.6953562000160565, 'yaw_rate': 0.0, 'effort': 0.6238382684191068, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 3.6337009043929744, 'saturation': 0.24055555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 180.3601739312907, 'return': 4105.102743028687, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:50,817Z INFO episode phase=validation condition=height_random0__+0.5000 seed=110000 metrics={'x_velocity': 3.8264098939590934, 'y_velocity': 0.0, 'planar_speed': 3.856174037943362, 'height': 0.6745159630645546, 'yaw_rate': 0.0, 'effort': 0.6343485568629371, 'inversion': 0.0, 'bad_contact': 0.014444444444444444, 'reward': 3.445800759682385, 'saturation': 0.24833333333333332, 'length': 1000.0, 'failure': 0.0, 'distance': 172.18844522815922, 'return': 3835.8377260530306, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:51,532Z INFO episode phase=validation condition=height_random0__+0.5000 seed=110004 metrics={'x_velocity': 4.182366618910364, 'y_velocity': 0.0, 'planar_speed': 4.195730033625132, 'height': 0.6941070326841191, 'yaw_rate': 0.0, 'effort': 0.6320841209756003, 'inversion': 0.0, 'bad_contact': 0.008888888888888889, 'reward': 3.803116146325004, 'saturation': 0.2462962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 188.2064978509664, 'return': 4207.972462128515, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:51,555Z INFO episode phase=validation condition=height_random0__+0.5000 seed=110005 metrics={'x_velocity': 3.1236281466089055, 'y_velocity': 0.0, 'planar_speed': 3.2072748243790055, 'height': 0.6394509072603508, 'yaw_rate': 0.0, 'effort': 0.6474252449472745, 'inversion': 0.0, 'bad_contact': 0.027777777777777776, 'reward': 2.7351729999518097, 'saturation': 0.26166666666666666, 'length': 1000.0, 'failure': 0.0, 'distance': 140.56326659740077, 'return': 3203.4735612583336, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:51,569Z INFO episode phase=validation condition=height_random0__+0.5000 seed=110006 metrics={'x_velocity': 3.3770360788093714, 'y_velocity': 0.0, 'planar_speed': 3.4181533598554243, 'height': 0.6621390964017895, 'yaw_rate': 0.0, 'effort': 0.6421947050508525, 'inversion': 0.0, 'bad_contact': 0.021111111111111112, 'reward': 2.9917192555189174, 'saturation': 0.26, 'length': 1000.0, 'failure': 0.0, 'distance': 151.96662354642172, 'return': 3451.486152199198, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:51,585Z INFO episode phase=validation condition=height_random0__+0.5000 seed=110007 metrics={'x_velocity': 3.838869795795691, 'y_velocity': 0.0, 'planar_speed': 3.8693516981447758, 'height': 0.6740358942516175, 'yaw_rate': 0.0, 'effort': 0.6424565914273263, 'inversion': 0.0, 'bad_contact': 0.012222222222222223, 'reward': 3.4533958409724095, 'saturation': 0.2514814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 172.74914081080613, 'return': 3954.8192502917645, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:52,263Z INFO episode phase=validation condition=height_random0__+0.5000 seed=110008 metrics={'x_velocity': 4.147820215600173, 'y_velocity': 0.0, 'planar_speed': 4.149179207521573, 'height': 0.711477310297432, 'yaw_rate': 0.0, 'effort': 0.626507412356635, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 3.7719157684155045, 'saturation': 0.23648148148148146, 'length': 1000.0, 'failure': 0.0, 'distance': 186.6519097020078, 'return': 4185.682019142194, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:52,275Z INFO episode phase=validation condition=height_random0__+0.5000 seed=110009 metrics={'x_velocity': 4.263489636047642, 'y_velocity': 0.0, 'planar_speed': 4.27734320807255, 'height': 0.6992250088975535, 'yaw_rate': 0.0, 'effort': 0.6301817803581555, 'inversion': 0.0, 'bad_contact': 0.01, 'reward': 3.885380567614198, 'saturation': 0.24037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 191.8570336221439, 'return': 4278.5901565886825, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:52,289Z INFO validation {'vector': 'height_random0', 'behavior': 'height', 'alpha': 0.5, 'effect': {'behavior': 'height', 'effect': 0.08480613711794678, 'ci95': [0.0721901533023942, 0.09737585666213387], 'relative_effect': 0.14307430988336786, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.677548028985743, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 3.739483450255887, 'effort': 0.6374080807988842, 'height': 0.677548028985743, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.013777777777777781, 'planar_speed': 3.775325144058449, 'saturation': 0.25088888888888883, 'reward': 3.357038601812485, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.013777777777777781, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:53,054Z INFO episode phase=validation condition=height_random1__-0.5000 seed=110001 metrics={'x_velocity': 1.5292770106323832, 'y_velocity': 0.0, 'planar_speed': 1.657004773848596, 'height': 0.31083811338965595, 'yaw_rate': 0.0, 'effort': 0.4001853834102965, 'inversion': 0.7911111111111111, 'bad_contact': 0.31333333333333335, 'reward': 1.289165780687823, 'saturation': 0.045000000000000005, 'length': 1000.0, 'failure': 0.0, 'distance': 68.81746547845725, 'return': 1843.1119517498869, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:53,067Z INFO episode phase=validation condition=height_random1__-0.5000 seed=110000 metrics={'x_velocity': 1.501865022757197, 'y_velocity': 0.0, 'planar_speed': 1.6382707781044827, 'height': 0.26361428160840306, 'yaw_rate': 0.0, 'effort': 0.3725108543980039, 'inversion': 0.8911111111111111, 'bad_contact': 0.3466666666666667, 'reward': 1.2783585101715835, 'saturation': 0.03222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 67.58392602407388, 'return': 1885.1397014933086, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:53,082Z INFO episode phase=validation condition=height_random1__-0.5000 seed=110003 metrics={'x_velocity': 0.8837122513647959, 'y_velocity': 0.0, 'planar_speed': 0.8860614642519874, 'height': 0.34665449497304596, 'yaw_rate': 0.0, 'effort': 0.8901024531366096, 'inversion': 0.0, 'bad_contact': 0.0077777777777777776, 'reward': 0.3496507801707671, 'saturation': 0.4642592592592593, 'length': 1000.0, 'failure': 0.0, 'distance': 39.76705131141582, 'return': 1149.4576312287004, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:53,098Z INFO episode phase=validation condition=height_random1__-0.5000 seed=110002 metrics={'x_velocity': 0.8185790249745282, 'y_velocity': 0.0, 'planar_speed': 0.8238996847404643, 'height': 0.3399337146997781, 'yaw_rate': 0.0, 'effort': 0.8878025775485568, 'inversion': 0.0, 'bad_contact': 0.011111111111111112, 'reward': 0.28589748038585616, 'saturation': 0.4648148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 36.83605612385377, 'return': 1021.5259839710699, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:53,785Z INFO episode phase=validation condition=height_random1__-0.5000 seed=110004 metrics={'x_velocity': 0.6688317411414055, 'y_velocity': 0.0, 'planar_speed': 0.6731567701379694, 'height': 0.5576897702746354, 'yaw_rate': 0.0, 'effort': 0.0413367121733932, 'inversion': 0.03222222222222222, 'bad_contact': 0.9144444444444444, 'reward': 0.6440297138898341, 'saturation': 0.005185185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 30.09742835136325, 'return': 1364.7946729368628, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:53,802Z INFO episode phase=validation condition=height_random1__-0.5000 seed=110005 metrics={'x_velocity': 0.6332259646842567, 'y_velocity': 0.0, 'planar_speed': 0.6371352376563143, 'height': 0.5846544346003253, 'yaw_rate': 0.0, 'effort': 0.04484392084181309, 'inversion': 0.014444444444444444, 'bad_contact': 0.9222222222222223, 'reward': 0.6063196122222168, 'saturation': 0.008148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 28.495168410791553, 'return': 1287.5055123017, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:53,819Z INFO episode phase=validation condition=height_random1__-0.5000 seed=110006 metrics={'x_velocity': 0.6530073494637229, 'y_velocity': 0.0, 'planar_speed': 0.6572064169567542, 'height': 0.5896259338665021, 'yaw_rate': 0.0, 'effort': 0.045611121950464115, 'inversion': 0.011111111111111112, 'bad_contact': 0.9122222222222223, 'reward': 0.6256406763319392, 'saturation': 0.007407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 29.38533072586753, 'return': 1322.0154309309178, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:53,834Z INFO episode phase=validation condition=height_random1__-0.5000 seed=110007 metrics={'x_velocity': 0.7332613447084956, 'y_velocity': 0.0, 'planar_speed': 0.7522850046585599, 'height': 0.6001325345244444, 'yaw_rate': 0.0, 'effort': 0.07244974626228214, 'inversion': 0.02, 'bad_contact': 0.0033333333333333335, 'reward': 0.6897914969175988, 'saturation': 0.016666666666666663, 'length': 1000.0, 'failure': 0.0, 'distance': 32.99676051188231, 'return': 1467.575340642435, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:54,513Z INFO episode phase=validation condition=height_random1__-0.5000 seed=110008 metrics={'x_velocity': 0.7247923440754683, 'y_velocity': 0.0, 'planar_speed': 0.7269814930253771, 'height': 0.3370339030117684, 'yaw_rate': 0.0, 'effort': 0.8909144337144163, 'inversion': 0.0, 'bad_contact': 0.01, 'reward': 0.19024368602238811, 'saturation': 0.4674074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 32.615655483396075, 'return': 962.1771449883884, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:54,542Z INFO episode phase=validation condition=height_random1__-0.5000 seed=110009 metrics={'x_velocity': 1.5120987304457245, 'y_velocity': 0.0, 'planar_speed': 1.6509168156870535, 'height': 0.24180473938421487, 'yaw_rate': 0.0, 'effort': 0.36356260805287294, 'inversion': 0.9422222222222222, 'bad_contact': 0.32555555555555554, 'reward': 1.2939611657940566, 'saturation': 0.020370370370370372, 'length': 1000.0, 'failure': 0.0, 'distance': 68.04444287005761, 'return': 1946.312694950555, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:54,556Z INFO validation {'vector': 'height_random1', 'behavior': 'height', 'alpha': -0.5, 'effect': {'behavior': 'height', 'effect': -0.17554369983451887, 'ci95': [-0.25841241851559327, -0.08752862046563215], 'relative_effect': -0.29615537933612385, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.41719819203327735, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 0.9658650784247979, 'effort': 0.40093198114887085, 'height': 0.41719819203327735, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.27022222222222225, 'bad_contact': 0.3766666666666666, 'planar_speed': 1.0102918439067559, 'saturation': 0.15314814814814814, 'reward': 0.7253058902594063, 'failure': 0.6, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.27022222222222225, 'bad_contact': 0.3766666666666666, 'failure': 0.6}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:55,324Z INFO episode phase=validation condition=height_random1__-0.2000 seed=110000 metrics={'x_velocity': 7.986486881137361, 'y_velocity': 0.0, 'planar_speed': 7.986486881137361, 'height': 0.6151290434694038, 'yaw_rate': 0.0, 'effort': 0.5683148158010509, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 7.645497991522621, 'saturation': 0.07796296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 359.39190965118127, 'return': 7615.565234709241, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:55,341Z INFO episode phase=validation condition=height_random1__-0.2000 seed=110002 metrics={'x_velocity': 8.912424989407544, 'y_velocity': 0.0, 'planar_speed': 8.912424989407544, 'height': 0.6166441253576064, 'yaw_rate': 0.0, 'effort': 0.5531654871006807, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.580525697223297, 'saturation': 0.0574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 401.0591245233395, 'return': 8486.691379124766, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:55,361Z INFO episode phase=validation condition=height_random1__-0.2000 seed=110003 metrics={'x_velocity': 8.49632986921375, 'y_velocity': 0.0, 'planar_speed': 8.49632986921375, 'height': 0.6209894313491311, 'yaw_rate': 0.0, 'effort': 0.558003979590204, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.161527481512609, 'saturation': 0.05722222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 382.33484411461876, 'return': 8180.146662436358, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:55,393Z INFO episode phase=validation condition=height_random1__-0.2000 seed=110001 metrics={'x_velocity': 8.399539020587257, 'y_velocity': 0.0, 'planar_speed': 8.399539020587257, 'height': 0.6303803121939507, 'yaw_rate': 0.0, 'effort': 0.5522555254565344, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.0681857048365, 'saturation': 0.065, 'length': 1000.0, 'failure': 0.0, 'distance': 377.9792559264266, 'return': 7944.2298834836965, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:56,035Z INFO episode phase=validation condition=height_random1__-0.2000 seed=110005 metrics={'x_velocity': 5.840614625827598, 'y_velocity': 0.0, 'planar_speed': 5.883296518366038, 'height': 0.4551434270714293, 'yaw_rate': 0.0, 'effort': 0.4513313432658712, 'inversion': 0.4077777777777778, 'bad_contact': 0.16, 'reward': 5.569815819822545, 'saturation': 0.042222222222222223, 'length': 1000.0, 'failure': 0.0, 'distance': 262.8276581622419, 'return': 5754.652099141995, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:56,051Z INFO episode phase=validation condition=height_random1__-0.2000 seed=110004 metrics={'x_velocity': 8.830941312376321, 'y_velocity': 0.0, 'planar_speed': 8.830941312376321, 'height': 0.6216155925442822, 'yaw_rate': 0.0, 'effort': 0.5523455845316251, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.499533961670592, 'saturation': 0.06185185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 397.39235905693454, 'return': 8434.748495939544, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:56,087Z INFO episode phase=validation condition=height_random1__-0.2000 seed=110006 metrics={'x_velocity': 8.670563866821734, 'y_velocity': 0.0, 'planar_speed': 8.670563866821734, 'height': 0.6203070487986372, 'yaw_rate': 0.0, 'effort': 0.5617140330457026, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 8.333535446939676, 'saturation': 0.06407407407407406, 'length': 1000.0, 'failure': 0.0, 'distance': 390.1753740069781, 'return': 8259.12072447788, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:56,101Z INFO episode phase=validation condition=height_random1__-0.2000 seed=110007 metrics={'x_velocity': 9.120357834000124, 'y_velocity': 0.0, 'planar_speed': 9.120357834000124, 'height': 0.6122198234454227, 'yaw_rate': 0.0, 'effort': 0.5495386713267201, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.790634631040593, 'saturation': 0.052037037037037034, 'length': 1000.0, 'failure': 0.0, 'distance': 410.4161025300057, 'return': 8758.33416135313, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:56,774Z INFO episode phase=validation condition=height_random1__-0.2000 seed=110009 metrics={'x_velocity': 0.8846805848100266, 'y_velocity': 0.0, 'planar_speed': 0.891505506556583, 'height': 0.58614277753045, 'yaw_rate': 0.0, 'effort': 0.05250001331998242, 'inversion': 0.01, 'bad_contact': 0.8988888888888888, 'reward': 0.8531805768536345, 'saturation': 0.0022222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 39.8106263164512, 'return': 1549.6101649041748, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:56,786Z INFO episode phase=validation condition=height_random1__-0.2000 seed=110008 metrics={'x_velocity': 8.174393298775835, 'y_velocity': 0.0, 'planar_speed': 8.17962855259849, 'height': 0.6143778323226436, 'yaw_rate': 0.0, 'effort': 0.5647042734672626, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.835570734975287, 'saturation': 0.062407407407407404, 'length': 1000.0, 'failure': 0.0, 'distance': 367.84769844491257, 'return': 7842.971489045997, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:56,802Z INFO validation {'vector': 'height_random1', 'behavior': 'height', 'alpha': -0.2, 'effect': {'behavior': 'height', 'effect': 0.006553049540499467, 'ci95': [-0.027154727974867187, 0.027703534183291207], 'relative_effect': 0.011055485752576174, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5992949414082958, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 7.531633228295756, 'effort': 0.4963873726905634, 'height': 0.5992949414082958, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.04177777777777778, 'bad_contact': 0.10633333333333332, 'planar_speed': 7.53710743510652, 'saturation': 0.054240740740740735, 'reward': 7.233800804639735, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.04177777777777778, 'bad_contact': 0.10633333333333332, 'failure': 0.2}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:57,547Z INFO episode phase=validation condition=height_random1__-0.1000 seed=110002 metrics={'x_velocity': 14.896548472312881, 'y_velocity': 0.0, 'planar_speed': 14.896548472312881, 'height': 0.6156948138345136, 'yaw_rate': 0.0, 'effort': 0.5820490624176131, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.547319034736482, 'saturation': 0.014259259259259258, 'length': 1000.0, 'failure': 0.0, 'distance': 670.3446812540797, 'return': 13856.805382886632, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:57,566Z INFO episode phase=validation condition=height_random1__-0.1000 seed=110003 metrics={'x_velocity': 14.833824461512044, 'y_velocity': 0.0, 'planar_speed': 14.833824461512044, 'height': 0.6194401700202355, 'yaw_rate': 0.0, 'effort': 0.5949463224576579, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.47685666788844, 'saturation': 0.017962962962962962, 'length': 1000.0, 'failure': 0.0, 'distance': 667.522100768042, 'return': 13863.942930174604, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:57,581Z INFO episode phase=validation condition=height_random1__-0.1000 seed=110000 metrics={'x_velocity': 14.847284583022914, 'y_velocity': 0.0, 'planar_speed': 14.847284583022914, 'height': 0.6177072675408137, 'yaw_rate': 0.0, 'effort': 0.5894702134695318, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.493602454805428, 'saturation': 0.01574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 668.1278062360311, 'return': 13778.85925166377, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:57,597Z INFO episode phase=validation condition=height_random1__-0.1000 seed=110001 metrics={'x_velocity': 14.470008071865294, 'y_velocity': 0.0, 'planar_speed': 14.470008071865294, 'height': 0.6248038440848714, 'yaw_rate': 0.0, 'effort': 0.592382200807333, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.114578750973596, 'saturation': 0.02388888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 651.1503632339383, 'return': 13385.983625007084, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:21:58,284Z INFO episode phase=validation condition=height_random1__-0.1000 seed=110004 metrics={'x_velocity': 15.13446961845507, 'y_velocity': 0.0, 'planar_speed': 15.13446961845507, 'height': 0.6158626668813508, 'yaw_rate': 0.0, 'effort': 0.5873857810762193, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.782038149743112, 'saturation': 0.010740740740740738, 'length': 1000.0, 'failure': 0.0, 'distance': 681.0511328304782, 'return': 14089.00226520481, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:21:58,297Z INFO episode phase=validation condition=height_random1__-0.1000 seed=110005 metrics={'x_velocity': 14.713426174616465, 'y_velocity': 0.0, 'planar_speed': 14.713426174616465, 'height': 0.6208112010824928, 'yaw_rate': 0.0, 'effort': 0.5923254280951288, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.358030917514347, 'saturation': 0.019444444444444445, 'length': 1000.0, 'failure': 0.0, 'distance': 662.104177857741, 'return': 13664.04568706462, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:21:58,309Z INFO episode phase=validation condition=height_random1__-0.1000 seed=110007 metrics={'x_velocity': 13.923894723537346, 'y_velocity': 0.0, 'planar_speed': 13.925132806468678, 'height': 0.6331739642392015, 'yaw_rate': 0.0, 'effort': 0.5714291752253969, 'inversion': 0.03111111111111111, 'bad_contact': 0.014444444444444444, 'reward': 13.581037218445157, 'saturation': 0.024629629629629626, 'length': 1000.0, 'failure': 0.0, 'distance': 626.5752625591806, 'return': 13069.696490017235, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:21:58,326Z INFO episode phase=validation condition=height_random1__-0.1000 seed=110006 metrics={'x_velocity': 14.72346135516458, 'y_velocity': 0.0, 'planar_speed': 14.72346135516458, 'height': 0.626285209446085, 'yaw_rate': 0.0, 'effort': 0.5901687960823377, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.36936007740259, 'saturation': 0.01888888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 662.5557609824062, 'return': 13691.362891894507, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:21:58,997Z INFO episode phase=validation condition=height_random1__-0.1000 seed=110008 metrics={'x_velocity': 6.884574827577172, 'y_velocity': 0.0, 'planar_speed': 6.892293457549403, 'height': 0.6110275960640285, 'yaw_rate': 0.0, 'effort': 0.28476140357346996, 'inversion': 0.04, 'bad_contact': 0.49666666666666665, 'reward': 6.713717985209987, 'saturation': 0.014444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 309.80586724097276, 'return': 6833.304014257228, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:21:59,010Z INFO episode phase=validation condition=height_random1__-0.1000 seed=110009 metrics={'x_velocity': 15.109366881462838, 'y_velocity': 0.0, 'planar_speed': 15.109366881462838, 'height': 0.6199449924377245, 'yaw_rate': 0.0, 'effort': 0.5849445287717713, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.758400164126924, 'saturation': 0.011666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 679.9215096658278, 'return': 14064.307793450136, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:21:59,024Z INFO validation {'vector': 'height_random1', 'behavior': 'height', 'alpha': -0.1, 'effect': {'behavior': 'height', 'effect': 0.027733280695335503, 'ci95': [0.02423117402921122, 0.031641938859536915], 'relative_effect': 0.04678812325537651, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6204751725631317, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 13.95368591695266, 'effort': 0.556986291197646, 'height': 0.6204751725631317, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0071111111111111115, 'bad_contact': 0.05111111111111111, 'planar_speed': 13.954581588243016, 'saturation': 0.017166666666666667, 'reward': 13.619494142084605, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.0071111111111111115, 'bad_contact': 0.05111111111111111, 'failure': 0.1}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:21:59,796Z INFO episode phase=validation condition=height_random1__-0.0500 seed=110003 metrics={'x_velocity': 15.39327698112239, 'y_velocity': 0.0, 'planar_speed': 15.39327698112239, 'height': 0.618217234084606, 'yaw_rate': 0.0, 'effort': 0.6414951633910339, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.008379883084457, 'saturation': 0.023703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 692.6974641505076, 'return': 14342.313823851024, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:21:59,808Z INFO episode phase=validation condition=height_random1__-0.0500 seed=110002 metrics={'x_velocity': 15.70758659695372, 'y_velocity': 0.0, 'planar_speed': 15.70758659695372, 'height': 0.611803499667151, 'yaw_rate': 0.0, 'effort': 0.6407750601569812, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.32312156105159, 'saturation': 0.016296296296296295, 'length': 1000.0, 'failure': 0.0, 'distance': 706.8413968629175, 'return': 14555.02765657023, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:21:59,823Z INFO episode phase=validation condition=height_random1__-0.0500 seed=110000 metrics={'x_velocity': 15.04514220162534, 'y_velocity': 0.0, 'planar_speed': 15.04514220162534, 'height': 0.6164420315246554, 'yaw_rate': 0.0, 'effort': 0.6391028610865275, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.661680485211841, 'saturation': 0.02037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 677.0313990731404, 'return': 13930.129479029543, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:21:59,836Z INFO episode phase=validation condition=height_random1__-0.0500 seed=110001 metrics={'x_velocity': 15.411332506901635, 'y_velocity': 0.0, 'planar_speed': 15.411332506901635, 'height': 0.6178457471170935, 'yaw_rate': 0.0, 'effort': 0.6441735245784124, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.024828391929416, 'saturation': 0.019074074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 693.5099628105736, 'return': 14205.20830186732, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:00,506Z INFO episode phase=validation condition=height_random1__-0.0500 seed=110006 metrics={'x_velocity': 15.943267648064753, 'y_velocity': 0.0, 'planar_speed': 15.943267648064753, 'height': 0.6124182153680021, 'yaw_rate': 0.0, 'effort': 0.6283554105295075, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.566254401793406, 'saturation': 0.007962962962962962, 'length': 1000.0, 'failure': 0.0, 'distance': 717.4470441629139, 'return': 14768.56778384624, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:00,521Z INFO episode phase=validation condition=height_random1__-0.0500 seed=110005 metrics={'x_velocity': 15.422455294010284, 'y_velocity': 0.0, 'planar_speed': 15.422455294010284, 'height': 0.6101000149085702, 'yaw_rate': 0.0, 'effort': 0.6382701553238763, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.03949320069675, 'saturation': 0.015555555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 694.0104882304628, 'return': 14277.36174192878, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:00,535Z INFO episode phase=validation condition=height_random1__-0.0500 seed=110004 metrics={'x_velocity': 15.298090906677139, 'y_velocity': 0.0, 'planar_speed': 15.298090906677139, 'height': 0.6082991910624352, 'yaw_rate': 0.0, 'effort': 0.6431412737237082, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.912206142522386, 'saturation': 0.01759259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 688.4140908004713, 'return': 14206.15345870616, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:00,571Z INFO episode phase=validation condition=height_random1__-0.0500 seed=110007 metrics={'x_velocity': 15.248616158821044, 'y_velocity': 0.0, 'planar_speed': 15.248616158821044, 'height': 0.6341537180380722, 'yaw_rate': 0.0, 'effort': 0.6411251952581936, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.863941041738977, 'saturation': 0.024814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 686.187727146947, 'return': 14224.309930981675, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:01,228Z INFO episode phase=validation condition=height_random1__-0.0500 seed=110008 metrics={'x_velocity': 15.824224204556826, 'y_velocity': 0.0, 'planar_speed': 15.824224204556826, 'height': 0.6104886988701258, 'yaw_rate': 0.0, 'effort': 0.6356682625744078, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.442823246681042, 'saturation': 0.012962962962962964, 'length': 1000.0, 'failure': 0.0, 'distance': 712.0900892050572, 'return': 14689.49874958118, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:01,242Z INFO episode phase=validation condition=height_random1__-0.0500 seed=110009 metrics={'x_velocity': 12.61380847430747, 'y_velocity': 0.0, 'planar_speed': 12.621272964131382, 'height': 0.6138645621946343, 'yaw_rate': 0.0, 'effort': 0.5159193855255014, 'inversion': 0.01, 'bad_contact': 0.16333333333333333, 'reward': 12.304256842956157, 'saturation': 0.01148148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 567.6213813438361, 'return': 11855.578804396446, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:01,257Z INFO validation {'vector': 'height_random1', 'behavior': 'height', 'alpha': -0.05, 'effect': {'behavior': 'height', 'effect': 0.02262139941573834, 'ci95': [0.018890198989185317, 0.02746152064435066], 'relative_effect': 0.038163996380373544, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6153632912835346, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.19078009730406, 'effort': 0.626802629214815, 'height': 0.6153632912835346, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.001, 'bad_contact': 0.01633333333333333, 'planar_speed': 15.19152654628645, 'saturation': 0.01698148148148148, 'reward': 14.814698519766603, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.001, 'bad_contact': 0.01633333333333333, 'failure': 0.1}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:02,001Z INFO episode phase=validation condition=height_random1__+0.0500 seed=110000 metrics={'x_velocity': 16.78380163714335, 'y_velocity': 0.0, 'planar_speed': 16.78380163714335, 'height': 0.5887466987874784, 'yaw_rate': 0.0, 'effort': 0.7146451737152205, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.35501453261619, 'saturation': 0.05296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 755.2710736714507, 'return': 15454.130121693457, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:02,015Z INFO episode phase=validation condition=height_random1__+0.0500 seed=110003 metrics={'x_velocity': 16.84133411334604, 'y_velocity': 0.0, 'planar_speed': 16.84133411334604, 'height': 0.5892315960367078, 'yaw_rate': 0.0, 'effort': 0.7131170071164767, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.413463909321198, 'saturation': 0.05388888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 757.8600351005718, 'return': 15606.889447464086, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:02,040Z INFO episode phase=validation condition=height_random1__+0.0500 seed=110001 metrics={'x_velocity': 16.796511895395028, 'y_velocity': 0.0, 'planar_speed': 16.796511895395028, 'height': 0.5890367770078432, 'yaw_rate': 0.0, 'effort': 0.7141176526414024, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.368041304194307, 'saturation': 0.052037037037037034, 'length': 1000.0, 'failure': 0.0, 'distance': 755.8430352927762, 'return': 15414.099922905722, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:02,054Z INFO episode phase=validation condition=height_random1__+0.0500 seed=110002 metrics={'x_velocity': 16.735110945505706, 'y_velocity': 0.0, 'planar_speed': 16.735110945505706, 'height': 0.5899217608123128, 'yaw_rate': 0.0, 'effort': 0.7121930280990071, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.307795128758887, 'saturation': 0.053518518518518514, 'length': 1000.0, 'failure': 0.0, 'distance': 753.0799925477568, 'return': 15441.2338675068, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:02,730Z INFO episode phase=validation condition=height_random1__+0.0500 seed=110004 metrics={'x_velocity': 16.313073806371616, 'y_velocity': 0.0, 'planar_speed': 16.313073806371616, 'height': 0.5967902319983716, 'yaw_rate': 0.0, 'effort': 0.7102389108637969, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.88693045998248, 'saturation': 0.05814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 734.0883212867228, 'return': 15083.405344420247, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:02,750Z INFO episode phase=validation condition=height_random1__+0.0500 seed=110005 metrics={'x_velocity': 16.785582327296588, 'y_velocity': 0.0, 'planar_speed': 16.785582327296588, 'height': 0.5889842980345106, 'yaw_rate': 0.0, 'effort': 0.7137030285265711, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.357360510491915, 'saturation': 0.053518518518518514, 'length': 1000.0, 'failure': 0.0, 'distance': 755.3512047283466, 'return': 15463.442320744429, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:02,777Z INFO episode phase=validation condition=height_random1__+0.0500 seed=110006 metrics={'x_velocity': 16.802252946121314, 'y_velocity': 0.0, 'planar_speed': 16.802252946121314, 'height': 0.5885638917883721, 'yaw_rate': 0.0, 'effort': 0.7143608200550079, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.373636454273743, 'saturation': 0.05574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 756.1013825754592, 'return': 15495.211631078544, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:02,797Z INFO episode phase=validation condition=height_random1__+0.0500 seed=110007 metrics={'x_velocity': 16.838079881614284, 'y_velocity': 0.0, 'planar_speed': 16.838079881614284, 'height': 0.5891492602650508, 'yaw_rate': 0.0, 'effort': 0.713055989113119, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.410246288722593, 'saturation': 0.05351851851851851, 'length': 1000.0, 'failure': 0.0, 'distance': 757.7135946726429, 'return': 15615.984653266929, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:03,449Z INFO episode phase=validation condition=height_random1__+0.0500 seed=110008 metrics={'x_velocity': 16.821883080902044, 'y_velocity': 0.0, 'planar_speed': 16.821883080902044, 'height': 0.589370513906302, 'yaw_rate': 0.0, 'effort': 0.7136117823918661, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.39371601112254, 'saturation': 0.051296296296296284, 'length': 1000.0, 'failure': 0.0, 'distance': 756.984738640592, 'return': 15545.302237578526, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:03,464Z INFO episode phase=validation condition=height_random1__+0.0500 seed=110009 metrics={'x_velocity': 16.788084736157916, 'y_velocity': 0.0, 'planar_speed': 16.788084736157916, 'height': 0.5888165505121532, 'yaw_rate': 0.0, 'effort': 0.7134019343058268, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.360043575362493, 'saturation': 0.05333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 755.4638131271063, 'return': 15505.786863562145, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:03,479Z INFO validation {'vector': 'height_random1', 'behavior': 'height', 'alpha': 0.05, 'effect': {'behavior': 'height', 'effect': -0.002880733952885983, 'ci95': [-0.003859344078907749, -0.0012669095143827038], 'relative_effect': -0.004860014101261626, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5898611579149102, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.750571536985387, 'effort': 0.7132445326828294, 'height': 0.5898611579149102, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.750571536985387, 'saturation': 0.053796296296296287, 'reward': 16.322624817484634, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:04,231Z INFO episode phase=validation condition=height_random1__+0.1000 seed=110002 metrics={'x_velocity': 13.918284315091379, 'y_velocity': 0.0, 'planar_speed': 13.918284315091379, 'height': 0.6449477747642539, 'yaw_rate': 0.0, 'effort': 0.7030832295947604, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 13.496434377294783, 'saturation': 0.12462962962962962, 'length': 1000.0, 'failure': 0.0, 'distance': 626.3227941791121, 'return': 12911.009191189107, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:04,247Z INFO episode phase=validation condition=height_random1__+0.1000 seed=110003 metrics={'x_velocity': 3.722309130258455, 'y_velocity': 0.0, 'planar_speed': 3.726102853381251, 'height': 0.5540346206025923, 'yaw_rate': 0.0, 'effort': 0.18617475535824068, 'inversion': 0.03888888888888889, 'bad_contact': 0.7133333333333334, 'reward': 3.6106042770143287, 'saturation': 0.021666666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 167.5039108616305, 'return': 4084.315778387906, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:04,260Z INFO episode phase=validation condition=height_random1__+0.1000 seed=110001 metrics={'x_velocity': 14.591409010257173, 'y_velocity': 0.0, 'planar_speed': 14.591409010257173, 'height': 0.655567288028982, 'yaw_rate': 0.0, 'effort': 0.7155832168459892, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.162059079427703, 'saturation': 0.11185185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 656.6134054615728, 'return': 13428.71592061578, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:04,276Z INFO episode phase=validation condition=height_random1__+0.1000 seed=110000 metrics={'x_velocity': 7.848725008820333, 'y_velocity': 0.0, 'planar_speed': 7.893029259611359, 'height': 0.441767444633735, 'yaw_rate': 0.0, 'effort': 0.4864317436257584, 'inversion': 0.4888888888888889, 'bad_contact': 0.22555555555555556, 'reward': 7.556865963177387, 'saturation': 0.07240740740740739, 'length': 1000.0, 'failure': 0.0, 'distance': 353.192625396915, 'return': 7535.796409198532, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:04,963Z INFO episode phase=validation condition=height_random1__+0.1000 seed=110004 metrics={'x_velocity': 1.439086633835233, 'y_velocity': 0.0, 'planar_speed': 1.4401400170507679, 'height': 0.5635530398180215, 'yaw_rate': 0.0, 'effort': 0.07959102316759527, 'inversion': 0.023333333333333334, 'bad_contact': 0.8566666666666667, 'reward': 1.3913320198740364, 'saturation': 0.007222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 64.7588985225855, 'return': 2037.3667483226452, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:04,980Z INFO episode phase=validation condition=height_random1__+0.1000 seed=110007 metrics={'x_velocity': 5.424298263693886, 'y_velocity': 0.0, 'planar_speed': 5.437765244774323, 'height': 0.6055611789845284, 'yaw_rate': 0.0, 'effort': 0.27299495920124983, 'inversion': 0.03111111111111111, 'bad_contact': 0.59, 'reward': 5.260501288360228, 'saturation': 0.041666666666666664, 'length': 1000.0, 'failure': 0.0, 'distance': 244.09342186622484, 'return': 5581.214152940802, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:04,994Z INFO episode phase=validation condition=height_random1__+0.1000 seed=110005 metrics={'x_velocity': 14.542314290527857, 'y_velocity': 0.0, 'planar_speed': 14.542314290527857, 'height': 0.6349728034682134, 'yaw_rate': 0.0, 'effort': 0.717647239069144, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 14.111725947450621, 'saturation': 0.11888888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 654.4041430737536, 'return': 13442.371214007264, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:05,011Z INFO episode phase=validation condition=height_random1__+0.1000 seed=110006 metrics={'x_velocity': 14.381689999130876, 'y_velocity': 0.0, 'planar_speed': 14.381689999130876, 'height': 0.6570709946078738, 'yaw_rate': 0.0, 'effort': 0.7062333633833461, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.957949981028017, 'saturation': 0.11481481481481481, 'length': 1000.0, 'failure': 0.0, 'distance': 647.1760499608895, 'return': 13321.09380515739, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:05,687Z INFO episode phase=validation condition=height_random1__+0.1000 seed=110008 metrics={'x_velocity': 15.806211159184079, 'y_velocity': 0.0, 'planar_speed': 15.806211159184079, 'height': 0.6038277941014768, 'yaw_rate': 0.0, 'effort': 0.7192561501264572, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.374657468883031, 'saturation': 0.09796296296296295, 'length': 1000.0, 'failure': 0.0, 'distance': 711.2795021632836, 'return': 14628.149549562968, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:05,709Z INFO episode phase=validation condition=height_random1__+0.1000 seed=110009 metrics={'x_velocity': 12.117165353768346, 'y_velocity': 0.0, 'planar_speed': 12.121418112018835, 'height': 0.6108567194625784, 'yaw_rate': 0.0, 'effort': 0.5554406195237405, 'inversion': 0.025555555555555557, 'bad_contact': 0.19444444444444445, 'reward': 11.783900982241194, 'saturation': 0.07777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 545.2724409195756, 'return': 11387.258529752977, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:05,722Z INFO validation {'vector': 'height_random1', 'behavior': 'height', 'alpha': 0.1, 'effect': {'behavior': 'height', 'effect': 0.004474073979429322, 'ci95': [-0.03694604000187827, 0.03699850264129415], 'relative_effect': 0.007548098153364887, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5972159658472256, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 10.379149316456761, 'effort': 0.5142436299896281, 'height': 0.5972159658472256, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.06077777777777778, 'bad_contact': 0.25833333333333336, 'planar_speed': 10.38583642610279, 'saturation': 0.07888888888888887, 'reward': 10.070603138475132, 'failure': 0.5, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.06077777777777778, 'bad_contact': 0.25833333333333336, 'failure': 0.5}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:06,467Z INFO episode phase=validation condition=height_random1__+0.2000 seed=110000 metrics={'x_velocity': 12.637038504971974, 'y_velocity': 0.0, 'planar_speed': 12.637038504971974, 'height': 0.6802431729354091, 'yaw_rate': 0.0, 'effort': 0.6941089225312074, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.220573151986379, 'saturation': 0.23222222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 568.6667327237388, 'return': 11733.132879126624, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:06,483Z INFO episode phase=validation condition=height_random1__+0.2000 seed=110002 metrics={'x_velocity': 7.944805678624891, 'y_velocity': 0.0, 'planar_speed': 7.946847639206764, 'height': 0.6316112641078102, 'yaw_rate': 0.0, 'effort': 0.4463632249407884, 'inversion': 0.03222222222222222, 'bad_contact': 0.3111111111111111, 'reward': 7.676987743892835, 'saturation': 0.14611111111111108, 'length': 1000.0, 'failure': 0.0, 'distance': 357.5162555381201, 'return': 7673.507221127351, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:06,500Z INFO episode phase=validation condition=height_random1__+0.2000 seed=110001 metrics={'x_velocity': 13.359924552086959, 'y_velocity': 0.0, 'planar_speed': 13.359924552086959, 'height': 0.6513082162309572, 'yaw_rate': 0.0, 'effort': 0.6936292964551184, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.94374697384964, 'saturation': 0.21888888888888888, 'length': 1000.0, 'failure': 0.0, 'distance': 601.1966048439132, 'return': 12332.23502559552, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:06,517Z INFO episode phase=validation condition=height_random1__+0.2000 seed=110003 metrics={'x_velocity': 4.749654010063322, 'y_velocity': 0.0, 'planar_speed': 4.828141194485747, 'height': 0.3678744494819255, 'yaw_rate': 0.0, 'effort': 0.38267440891928145, 'inversion': 0.6666666666666666, 'bad_contact': 0.33444444444444443, 'reward': 4.520049364718376, 'saturation': 0.07740740740740741, 'length': 1000.0, 'failure': 0.0, 'distance': 213.7344304528495, 'return': 4902.816357321548, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:07,201Z INFO episode phase=validation condition=height_random1__+0.2000 seed=110004 metrics={'x_velocity': 2.3167757208317874, 'y_velocity': 0.0, 'planar_speed': 2.322779087760398, 'height': 0.5577487212501305, 'yaw_rate': 0.0, 'effort': 0.1330213937184049, 'inversion': 0.02666666666666667, 'bad_contact': 0.79, 'reward': 2.236962884451319, 'saturation': 0.023703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 104.25490743743045, 'return': 2798.4345264421995, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:07,222Z INFO episode phase=validation condition=height_random1__+0.2000 seed=110005 metrics={'x_velocity': 12.734720723797944, 'y_velocity': 0.0, 'planar_speed': 12.734720723797944, 'height': 0.686200468032809, 'yaw_rate': 0.0, 'effort': 0.6950388490988149, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 12.317697414606874, 'saturation': 0.2235185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 573.0624325709075, 'return': 11827.745534447891, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:07,238Z INFO episode phase=validation condition=height_random1__+0.2000 seed=110007 metrics={'x_velocity': 4.948222966110044, 'y_velocity': 0.0, 'planar_speed': 4.948268498297709, 'height': 0.3416687200529654, 'yaw_rate': 0.0, 'effort': 0.28555941046939953, 'inversion': 0.65, 'bad_contact': 0.6, 'reward': 4.77688731934991, 'saturation': 0.06722222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 222.670033474952, 'return': 5145.961580831516, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:07,251Z INFO episode phase=validation condition=height_random1__+0.2000 seed=110006 metrics={'x_velocity': 4.637038566874628, 'y_velocity': 0.0, 'planar_speed': 4.637103304947988, 'height': 0.32764724179703547, 'yaw_rate': 0.0, 'effort': 0.25787119653696816, 'inversion': 0.6688888888888889, 'bad_contact': 0.6233333333333333, 'reward': 4.482315848852692, 'saturation': 0.06759259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 208.66673550935826, 'return': 4793.023086199595, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:07,922Z INFO episode phase=validation condition=height_random1__+0.2000 seed=110009 metrics={'x_velocity': 3.851087773396203, 'y_velocity': 0.0, 'planar_speed': 3.8648264100916867, 'height': 0.5804212389485844, 'yaw_rate': 0.0, 'effort': 0.20681690130486258, 'inversion': 0.03333333333333333, 'bad_contact': 0.6744444444444444, 'reward': 3.72699763238956, 'saturation': 0.05592592592592593, 'length': 1000.0, 'failure': 0.0, 'distance': 173.29894980282916, 'return': 4136.045514886509, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:07,936Z INFO episode phase=validation condition=height_random1__+0.2000 seed=110008 metrics={'x_velocity': 11.98173293115968, 'y_velocity': 0.0, 'planar_speed': 11.98173293115968, 'height': 0.67554645468455, 'yaw_rate': 0.0, 'effort': 0.7081553987744782, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 11.556839691595313, 'saturation': 0.23407407407407405, 'length': 1000.0, 'failure': 0.0, 'distance': 539.1779819021857, 'return': 11192.113550004022, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:07,950Z INFO validation {'vector': 'height_random1', 'behavior': 'height', 'alpha': 0.2, 'effect': {'behavior': 'height', 'effect': -0.04271489711557854, 'ci95': [-0.12773383167090993, 0.038216240624258], 'relative_effect': -0.0720632330894972, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5500269947522177, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 7.916100142791743, 'effort': 0.4503239002749324, 'height': 0.5500269947522177, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.20777777777777776, 'bad_contact': 0.33344444444444443, 'planar_speed': 7.926138284680685, 'saturation': 0.13466666666666666, 'reward': 7.64590580256929, 'failure': 0.6, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.20777777777777776, 'bad_contact': 0.33344444444444443, 'failure': 0.6}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:08,683Z INFO episode phase=validation condition=height_random1__+0.5000 seed=110001 metrics={'x_velocity': 1.1874226527602936, 'y_velocity': 0.0, 'planar_speed': 1.2980290770972451, 'height': 0.19604114707016543, 'yaw_rate': 0.0, 'effort': 0.2153242094711297, 'inversion': 0.9466666666666667, 'bad_contact': 0.6244444444444445, 'reward': 1.058228127030015, 'saturation': 0.0212962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 53.434019374213214, 'return': 1635.2680634578596, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:08,701Z INFO episode phase=validation condition=height_random1__+0.5000 seed=110002 metrics={'x_velocity': 2.2956748934372766, 'y_velocity': 0.0, 'planar_speed': 2.2958051719367067, 'height': 0.29293382485279335, 'yaw_rate': 0.0, 'effort': 0.20884397041466501, 'inversion': 0.7477777777777778, 'bad_contact': 0.7288888888888889, 'reward': 2.1703685107745563, 'saturation': 0.08333333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 103.30537020467746, 'return': 2717.5499113209003, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:08,716Z INFO episode phase=validation condition=height_random1__+0.5000 seed=110003 metrics={'x_velocity': 5.604875207678448, 'y_velocity': 0.0, 'planar_speed': 5.610150511926332, 'height': 0.630770543260535, 'yaw_rate': 0.0, 'effort': 0.4593007492294742, 'inversion': 0.014444444444444444, 'bad_contact': 0.3411111111111111, 'reward': 5.3292947583837345, 'saturation': 0.20537037037037034, 'length': 1000.0, 'failure': 0.0, 'distance': 252.21938434553013, 'return': 5631.137211620371, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:08,730Z INFO episode phase=validation condition=height_random1__+0.5000 seed=110000 metrics={'x_velocity': 8.11357175256264, 'y_velocity': 0.0, 'planar_speed': 8.11357175256264, 'height': 0.7111904546510728, 'yaw_rate': 0.0, 'effort': 0.712667005409797, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 7.68597154914126, 'saturation': 0.3338888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 365.11072886531883, 'return': 7651.991436566016, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:09,403Z INFO episode phase=validation condition=height_random1__+0.5000 seed=110004 metrics={'x_velocity': 0.8523860449824908, 'y_velocity': 0.0, 'planar_speed': 0.8604977473888638, 'height': 0.5159470727998129, 'yaw_rate': 0.0, 'effort': 0.06605641016943588, 'inversion': 0.013333333333333334, 'bad_contact': 0.8988888888888888, 'reward': 0.8127521989387785, 'saturation': 0.012222222222222223, 'length': 1000.0, 'failure': 0.0, 'distance': 38.35737202421209, 'return': 1516.6449094809125, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:09,417Z INFO episode phase=validation condition=height_random1__+0.5000 seed=110005 metrics={'x_velocity': 2.693581700505263, 'y_velocity': 0.0, 'planar_speed': 2.693643325779168, 'height': 0.2877136163090864, 'yaw_rate': 0.0, 'effort': 0.20556701488378976, 'inversion': 0.76, 'bad_contact': 0.7244444444444444, 'reward': 2.5702414918970193, 'saturation': 0.07296296296296297, 'length': 1000.0, 'failure': 0.0, 'distance': 121.21117652273684, 'return': 3055.035204009022, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:09,433Z INFO episode phase=validation condition=height_random1__+0.5000 seed=110006 metrics={'x_velocity': 4.08719179459396, 'y_velocity': 0.0, 'planar_speed': 4.156429506251015, 'height': 0.41530418662206997, 'yaw_rate': 0.0, 'effort': 0.41616979396591586, 'inversion': 0.5577777777777778, 'bad_contact': 0.3488888888888889, 'reward': 3.837489917923838, 'saturation': 0.14537037037037034, 'length': 1000.0, 'failure': 0.0, 'distance': 183.92363075672824, 'return': 4212.679748363627, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:09,467Z INFO episode phase=validation condition=height_random1__+0.5000 seed=110007 metrics={'x_velocity': 8.73518799102004, 'y_velocity': 0.0, 'planar_speed': 8.73518799102004, 'height': 0.7198533451816365, 'yaw_rate': 0.0, 'effort': 0.7203127987848388, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.303000311358394, 'saturation': 0.33037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 393.0834595959018, 'return': 8319.46327363915, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:10,147Z INFO episode phase=validation condition=height_random1__+0.5000 seed=110008 metrics={'x_velocity': 3.1381368143332646, 'y_velocity': 0.0, 'planar_speed': 3.2180778774612104, 'height': 0.35448591754196956, 'yaw_rate': 0.0, 'effort': 0.3662984001802074, 'inversion': 0.6755555555555556, 'bad_contact': 0.4033333333333333, 'reward': 2.918357773951952, 'saturation': 0.11462962962962962, 'length': 1000.0, 'failure': 0.0, 'distance': 141.21615664499691, 'return': 3417.479824124997, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:10,161Z INFO episode phase=validation condition=height_random1__+0.5000 seed=110009 metrics={'x_velocity': 1.5161044965672423, 'y_velocity': 0.0, 'planar_speed': 1.6383914050027342, 'height': 0.22742344761820443, 'yaw_rate': 0.0, 'effort': 0.24003193363961245, 'inversion': 0.9077777777777778, 'bad_contact': 0.5533333333333333, 'reward': 1.3720853364107939, 'saturation': 0.030555555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 68.22470234552591, 'return': 2016.6244485056184, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:10,173Z INFO validation {'vector': 'height_random1', 'behavior': 'height', 'alpha': 0.5, 'effect': {'behavior': 'height', 'effect': -0.1575755362770616, 'ci95': [-0.2625930505730135, -0.044153041851752096], 'relative_effect': -0.26584174062765065, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.4351663555907347, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 3.822413334844092, 'effort': 0.3610572286148866, 'height': 0.4351663555907347, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.4623333333333333, 'bad_contact': 0.46244444444444455, 'planar_speed': 3.861978436642596, 'saturation': 0.13499999999999998, 'reward': 3.6057789975810346, 'failure': 0.8, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.4623333333333333, 'bad_contact': 0.46244444444444455, 'failure': 0.8}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:10,922Z INFO episode phase=validation condition=height_random2__-0.5000 seed=110000 metrics={'x_velocity': 7.181636744767097, 'y_velocity': 0.0, 'planar_speed': 7.181636744767097, 'height': 0.6620048537252865, 'yaw_rate': 0.0, 'effort': 0.6508761358592245, 'inversion': 0.0, 'bad_contact': 0.0044444444444444444, 'reward': 6.791111063350903, 'saturation': 0.21481481481481482, 'length': 1000.0, 'failure': 0.0, 'distance': 323.1736535145194, 'return': 6846.616999354696, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:10,940Z INFO episode phase=validation condition=height_random2__-0.5000 seed=110002 metrics={'x_velocity': 4.2098723448637765, 'y_velocity': 0.0, 'planar_speed': 4.216729129631438, 'height': 0.6124092286129629, 'yaw_rate': 0.0, 'effort': 0.7360199703772863, 'inversion': 0.0, 'bad_contact': 0.32666666666666666, 'reward': 3.768260362968542, 'saturation': 0.27185185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 189.44425551886997, 'return': 4155.652578295487, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:10,957Z INFO episode phase=validation condition=height_random2__-0.5000 seed=110001 metrics={'x_velocity': 6.8272641862043155, 'y_velocity': 0.0, 'planar_speed': 6.871804459847095, 'height': 0.6593977522395699, 'yaw_rate': 0.0, 'effort': 0.6557291763855352, 'inversion': 0.034444444444444444, 'bad_contact': 0.04111111111111111, 'reward': 6.433826680469023, 'saturation': 0.21759259259259256, 'length': 1000.0, 'failure': 0.0, 'distance': 307.2268883791942, 'return': 6473.306761552967, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:10,972Z INFO episode phase=validation condition=height_random2__-0.5000 seed=110003 metrics={'x_velocity': 7.928424441208896, 'y_velocity': 0.0, 'planar_speed': 7.928424441208896, 'height': 0.6606093171909503, 'yaw_rate': 0.0, 'effort': 0.6571453920834595, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.534137206690634, 'saturation': 0.22166666666666668, 'length': 1000.0, 'failure': 0.0, 'distance': 356.77909985440033, 'return': 7615.4954150965805, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:11,708Z INFO episode phase=validation condition=height_random2__-0.5000 seed=110004 metrics={'x_velocity': 7.323850271035178, 'y_velocity': 0.0, 'planar_speed': 7.323850271035178, 'height': 0.6576343115099669, 'yaw_rate': 0.0, 'effort': 0.6442673343751165, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 6.937289870165067, 'saturation': 0.20055555555555554, 'length': 1000.0, 'failure': 0.0, 'distance': 329.573262196583, 'return': 7028.728813584572, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:11,728Z INFO episode phase=validation condition=height_random2__-0.5000 seed=110005 metrics={'x_velocity': 4.635011699398857, 'y_velocity': 0.0, 'planar_speed': 4.706023709071955, 'height': 0.4394360209909193, 'yaw_rate': 0.0, 'effort': 0.4613350570719275, 'inversion': 0.4688888888888889, 'bad_contact': 0.2966666666666667, 'reward': 4.358210665401155, 'saturation': 0.11851851851851851, 'length': 1000.0, 'failure': 0.0, 'distance': 208.57552647294858, 'return': 4664.207460162745, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:11,752Z INFO episode phase=validation condition=height_random2__-0.5000 seed=110006 metrics={'x_velocity': 5.564146790562686, 'y_velocity': 0.0, 'planar_speed': 5.60214146800559, 'height': 0.5359322288551017, 'yaw_rate': 0.0, 'effort': 0.5496214236163844, 'inversion': 0.2588888888888889, 'bad_contact': 0.17333333333333334, 'reward': 5.234373936026741, 'saturation': 0.1703703703703704, 'length': 1000.0, 'failure': 0.0, 'distance': 250.38660557532086, 'return': 5469.87536465624, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:11,765Z INFO episode phase=validation condition=height_random2__-0.5000 seed=110007 metrics={'x_velocity': 7.497045931061879, 'y_velocity': 0.0, 'planar_speed': 7.497045931061879, 'height': 0.6642788673913113, 'yaw_rate': 0.0, 'effort': 0.6493791284908851, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.107418453760388, 'saturation': 0.20240740740740742, 'length': 1000.0, 'failure': 0.0, 'distance': 337.3670668977846, 'return': 7243.439601800946, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:12,455Z INFO episode phase=validation condition=height_random2__-0.5000 seed=110009 metrics={'x_velocity': 7.132401937896834, 'y_velocity': 0.0, 'planar_speed': 7.132401937896834, 'height': 0.6589527828149532, 'yaw_rate': 0.0, 'effort': 0.6526731142236126, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 6.740798069412336, 'saturation': 0.22018518518518515, 'length': 1000.0, 'failure': 0.0, 'distance': 320.9580872053575, 'return': 6848.4659082070075, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:12,469Z INFO episode phase=validation condition=height_random2__-0.5000 seed=110008 metrics={'x_velocity': 7.686587479693734, 'y_velocity': 0.0, 'planar_speed': 7.686587479693734, 'height': 0.6672962832745147, 'yaw_rate': 0.0, 'effort': 0.6493943311770757, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 7.296950880888148, 'saturation': 0.21, 'length': 1000.0, 'failure': 0.0, 'distance': 345.89643658621804, 'return': 7358.213620367573, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:12,483Z INFO validation {'vector': 'height_random2', 'behavior': 'height', 'alpha': -0.5, 'effect': {'behavior': 'height', 'effect': 0.029053272792757424, 'ci95': [-0.01890520963736109, 0.06771921050334799], 'relative_effect': 0.04901504886251131, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6217951646605536, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 6.598624182669326, 'effort': 0.6306441063660508, 'height': 0.6217951646605536, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.07622222222222223, 'bad_contact': 0.08511111111111111, 'planar_speed': 6.614664557221969, 'saturation': 0.20479629629629628, 'reward': 6.220237718913293, 'failure': 0.3, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.07622222222222223, 'bad_contact': 0.08511111111111111, 'failure': 0.3}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:13,232Z INFO episode phase=validation condition=height_random2__-0.2000 seed=110003 metrics={'x_velocity': 7.962851193226193, 'y_velocity': 0.0, 'planar_speed': 7.9693239940392555, 'height': 0.6511206372232093, 'yaw_rate': 0.0, 'effort': 0.4541838117202537, 'inversion': 0.022222222222222223, 'bad_contact': 0.2688888888888889, 'reward': 7.690340906191351, 'saturation': 0.08814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 358.3283036951787, 'return': 7756.078744647226, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:13,245Z INFO episode phase=validation condition=height_random2__-0.2000 seed=110001 metrics={'x_velocity': 5.804689541190276, 'y_velocity': 0.0, 'planar_speed': 5.86239271082987, 'height': 0.41021979770202566, 'yaw_rate': 0.0, 'effort': 0.43373030359960263, 'inversion': 0.55, 'bad_contact': 0.2633333333333333, 'reward': 5.54445135873746, 'saturation': 0.058333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 261.2110293535624, 'return': 5672.86897199456, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:13,259Z INFO episode phase=validation condition=height_random2__-0.2000 seed=110002 metrics={'x_velocity': 10.772806026370402, 'y_velocity': 0.0, 'planar_speed': 10.772806026370402, 'height': 0.6963952826624381, 'yaw_rate': 0.0, 'effort': 0.6450240762035052, 'inversion': 0.013333333333333334, 'bad_contact': 0.0022222222222222222, 'reward': 10.385791580688036, 'saturation': 0.13296296296296295, 'length': 1000.0, 'failure': 0.0, 'distance': 484.77627118666805, 'return': 10111.43067424303, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:13,277Z INFO episode phase=validation condition=height_random2__-0.2000 seed=110000 metrics={'x_velocity': 1.6778054140700411, 'y_velocity': 0.0, 'planar_speed': 1.6910177082711857, 'height': 0.5644060338231105, 'yaw_rate': 0.0, 'effort': 0.10276072294451297, 'inversion': 0.02666666666666667, 'bad_contact': 0.8311111111111111, 'reward': 1.6161489800874738, 'saturation': 0.02018518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 75.50124363315186, 'return': 2189.1511244176095, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:13,941Z INFO episode phase=validation condition=height_random2__-0.2000 seed=110004 metrics={'x_velocity': 8.286644416270162, 'y_velocity': 0.0, 'planar_speed': 8.296924612217017, 'height': 0.662098895874495, 'yaw_rate': 0.0, 'effort': 0.4797329485261192, 'inversion': 0.021111111111111112, 'bad_contact': 0.22777777777777777, 'reward': 7.998804646934905, 'saturation': 0.09685185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 372.8989987321573, 'return': 7984.0921126774265, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:13,960Z INFO episode phase=validation condition=height_random2__-0.2000 seed=110005 metrics={'x_velocity': 1.8852258072670192, 'y_velocity': 0.0, 'planar_speed': 2.001757183849735, 'height': 0.22514870483276161, 'yaw_rate': 0.0, 'effort': 0.2787736930780941, 'inversion': 0.92, 'bad_contact': 0.4922222222222222, 'reward': 1.7179615910989603, 'saturation': 0.014814814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 84.83516132701587, 'return': 2287.983293290769, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:13,973Z INFO episode phase=validation condition=height_random2__-0.2000 seed=110006 metrics={'x_velocity': 3.483432191379349, 'y_velocity': 0.0, 'planar_speed': 3.491630264125354, 'height': 0.5945282785691838, 'yaw_rate': 0.0, 'effort': 0.21998579256029593, 'inversion': 0.03777777777777778, 'bad_contact': 0.64, 'reward': 3.3514407156987125, 'saturation': 0.045555555555555564, 'length': 1000.0, 'failure': 0.0, 'distance': 156.75444861207072, 'return': 3775.235466361014, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:14,000Z INFO episode phase=validation condition=height_random2__-0.2000 seed=110007 metrics={'x_velocity': 1.7778723061671915, 'y_velocity': 0.0, 'planar_speed': 1.78976806718837, 'height': 0.5580844169171347, 'yaw_rate': 0.0, 'effort': 0.09905692882939346, 'inversion': 0.012222222222222223, 'bad_contact': 0.8277777777777777, 'reward': 1.7184381487873919, 'saturation': 0.013888888888888888, 'length': 1000.0, 'failure': 0.0, 'distance': 80.00425377752362, 'return': 2393.3573273252487, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:14,655Z INFO episode phase=validation condition=height_random2__-0.2000 seed=110009 metrics={'x_velocity': 9.630596732860806, 'y_velocity': 0.0, 'planar_speed': 9.643755373936175, 'height': 0.6062907583427865, 'yaw_rate': 0.0, 'effort': 0.5958160617409481, 'inversion': 0.1511111111111111, 'bad_contact': 0.06222222222222222, 'reward': 9.273107095836107, 'saturation': 0.11925925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 433.3768529787362, 'return': 9127.544031988398, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:14,672Z INFO episode phase=validation condition=height_random2__-0.2000 seed=110008 metrics={'x_velocity': 10.830960273439127, 'y_velocity': 0.0, 'planar_speed': 10.830960273439127, 'height': 0.7045224122794309, 'yaw_rate': 0.0, 'effort': 0.6427877008087105, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 10.445287652798267, 'saturation': 0.14444444444444443, 'length': 1000.0, 'failure': 0.0, 'distance': 487.3932123047607, 'return': 10191.716715086679, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:14,688Z INFO validation {'vector': 'height_random2', 'behavior': 'height', 'alpha': -0.2, 'effect': {'behavior': 'height', 'effect': -0.025460370045138625, 'ci95': [-0.11981346157923746, 0.049598388637867245], 'relative_effect': -0.042953552624583606, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5672815218226576, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 6.211288390224057, 'effort': 0.39518520400114354, 'height': 0.5672815218226576, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.17544444444444446, 'bad_contact': 0.3616666666666667, 'planar_speed': 6.235033621426648, 'saturation': 0.07344444444444444, 'reward': 5.974177267685867, 'failure': 0.8, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.17544444444444446, 'bad_contact': 0.3616666666666667, 'failure': 0.8}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:15,431Z INFO episode phase=validation condition=height_random2__-0.1000 seed=110003 metrics={'x_velocity': 2.9298141817948, 'y_velocity': 0.0, 'planar_speed': 2.9418060821735166, 'height': 0.5730810084014919, 'yaw_rate': 0.0, 'effort': 0.1455710036597318, 'inversion': 0.03, 'bad_contact': 0.75, 'reward': 2.842471579550117, 'saturation': 0.016666666666666666, 'length': 1000.0, 'failure': 0.0, 'distance': 131.841638180766, 'return': 3392.9963506701165, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:15,445Z INFO episode phase=validation condition=height_random2__-0.1000 seed=110001 metrics={'x_velocity': 3.9275989937272873, 'y_velocity': 0.0, 'planar_speed': 3.9276581577004426, 'height': 0.2870558486839151, 'yaw_rate': 0.0, 'effort': 0.20655021875682805, 'inversion': 0.7433333333333333, 'bad_contact': 0.7022222222222222, 'reward': 3.803668863134637, 'saturation': 0.020555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 176.74195471772794, 'return': 4106.16472595202, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:15,461Z INFO episode phase=validation condition=height_random2__-0.1000 seed=110002 metrics={'x_velocity': 8.118342616816998, 'y_velocity': 0.0, 'planar_speed': 8.162675992289849, 'height': 0.5401682746167047, 'yaw_rate': 0.0, 'effort': 0.5255698227002803, 'inversion': 0.31777777777777777, 'bad_contact': 0.15888888888888889, 'reward': 7.803000722710266, 'saturation': 0.0711111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 365.3254177567649, 'return': 7786.918902063037, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:15,473Z INFO episode phase=validation condition=height_random2__-0.1000 seed=110000 metrics={'x_velocity': 13.661142774026814, 'y_velocity': 0.0, 'planar_speed': 13.661142774026814, 'height': 0.665804833742719, 'yaw_rate': 0.0, 'effort': 0.6463295150299867, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.27334506505187, 'saturation': 0.08166666666666667, 'length': 1000.0, 'failure': 0.0, 'distance': 614.7514248312067, 'return': 12680.627600885566, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:16,142Z INFO episode phase=validation condition=height_random2__-0.1000 seed=110004 metrics={'x_velocity': 13.785284369221436, 'y_velocity': 0.0, 'planar_speed': 13.785284369221436, 'height': 0.6631044043618831, 'yaw_rate': 0.0, 'effort': 0.6402792642513911, 'inversion': 0.014444444444444444, 'bad_contact': 0.0022222222222222222, 'reward': 13.401116810723583, 'saturation': 0.0785185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 620.3377966149646, 'return': 12846.173060087236, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:16,160Z INFO episode phase=validation condition=height_random2__-0.1000 seed=110005 metrics={'x_velocity': 1.5265918428085452, 'y_velocity': 0.0, 'planar_speed': 1.5319816179090182, 'height': 0.5605550480641116, 'yaw_rate': 0.0, 'effort': 0.08407616819875936, 'inversion': 0.021111111111111112, 'bad_contact': 0.8533333333333334, 'reward': 1.4761461417984338, 'saturation': 0.010555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 68.69663292638454, 'return': 2070.349388920295, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:16,181Z INFO episode phase=validation condition=height_random2__-0.1000 seed=110006 metrics={'x_velocity': 11.676387060474514, 'y_velocity': 0.0, 'planar_speed': 11.689818781158184, 'height': 0.5933820461178271, 'yaw_rate': 0.0, 'effort': 0.589838056375997, 'inversion': 0.18777777777777777, 'bad_contact': 0.08666666666666667, 'reward': 11.322484227047523, 'saturation': 0.075, 'length': 1000.0, 'failure': 0.0, 'distance': 525.4374177213532, 'return': 10949.174626574943, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:16,193Z INFO episode phase=validation condition=height_random2__-0.1000 seed=110007 metrics={'x_velocity': 13.485637992210625, 'y_velocity': 0.0, 'planar_speed': 13.485637992210625, 'height': 0.6765314576931446, 'yaw_rate': 0.0, 'effort': 0.6438887240323755, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.099304757821004, 'saturation': 0.08425925925925927, 'length': 1000.0, 'failure': 0.0, 'distance': 606.8537096494782, 'return': 12636.137275455501, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:16,884Z INFO episode phase=validation condition=height_random2__-0.1000 seed=110009 metrics={'x_velocity': 2.019434723355129, 'y_velocity': 0.0, 'planar_speed': 2.029151089416741, 'height': 0.5811775543751423, 'yaw_rate': 0.0, 'effort': 0.10803408186882735, 'inversion': 0.028888888888888888, 'bad_contact': 0.8155555555555556, 'reward': 1.9546142742222434, 'saturation': 0.012592592592592591, 'length': 1000.0, 'failure': 0.0, 'distance': 90.87456255098083, 'return': 2540.9004925359227, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:16,897Z INFO episode phase=validation condition=height_random2__-0.1000 seed=110008 metrics={'x_velocity': 11.534934606286773, 'y_velocity': 0.0, 'planar_speed': 11.546577447819512, 'height': 0.6612379930001931, 'yaw_rate': 0.0, 'effort': 0.5633034764778697, 'inversion': 0.008888888888888889, 'bad_contact': 0.12666666666666668, 'reward': 11.196952520283121, 'saturation': 0.07944444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 519.0720572829049, 'return': 10868.215095823049, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:16,916Z INFO validation {'vector': 'height_random2', 'behavior': 'height', 'alpha': -0.1, 'effect': {'behavior': 'height', 'effect': -0.012532044962082978, 'ci95': [-0.09108081204899444, 0.04286726748614589], 'relative_effect': -0.0211424991788468, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5802098469057133, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.266516916072291, 'effort': 0.4153440331352047, 'height': 0.5802098469057133, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.13522222222222224, 'bad_contact': 0.34955555555555556, 'planar_speed': 8.276173430392614, 'saturation': 0.053037037037037035, 'reward': 8.017310496234279, 'failure': 0.7, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.13522222222222224, 'bad_contact': 0.34955555555555556, 'failure': 0.7}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:17,698Z INFO episode phase=validation condition=height_random2__-0.0500 seed=110000 metrics={'x_velocity': 16.529898207477913, 'y_velocity': 0.0, 'planar_speed': 16.529898207477913, 'height': 0.6127611264581341, 'yaw_rate': 0.0, 'effort': 0.6763488869865736, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.1240888751204, 'saturation': 0.06314814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 743.8454193365062, 'return': 15246.297029947244, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:17,711Z INFO episode phase=validation condition=height_random2__-0.0500 seed=110003 metrics={'x_velocity': 16.132499848003235, 'y_velocity': 0.0, 'planar_speed': 16.132499848003235, 'height': 0.6190136437072981, 'yaw_rate': 0.0, 'effort': 0.6798077275521225, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 15.724615211654086, 'saturation': 0.0611111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 725.9624931601456, 'return': 14986.925619563688, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:17,729Z INFO episode phase=validation condition=height_random2__-0.0500 seed=110001 metrics={'x_velocity': 6.813716909141961, 'y_velocity': 0.0, 'planar_speed': 6.824506725996367, 'height': 0.5894058453775908, 'yaw_rate': 0.0, 'effort': 0.29965397538617256, 'inversion': 0.01, 'bad_contact': 0.5355555555555556, 'reward': 6.63392452387259, 'saturation': 0.023703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 306.61726091138826, 'return': 6653.394820616177, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:17,746Z INFO episode phase=validation condition=height_random2__-0.0500 seed=110002 metrics={'x_velocity': 16.572575959803615, 'y_velocity': 0.0, 'planar_speed': 16.572575959803615, 'height': 0.6078407183795209, 'yaw_rate': 0.0, 'effort': 0.676206369863616, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.166852138269565, 'saturation': 0.05518518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 745.7659181911628, 'return': 15314.385176066407, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:18,514Z INFO episode phase=validation condition=height_random2__-0.0500 seed=110005 metrics={'x_velocity': 16.88995325735943, 'y_velocity': 0.0, 'planar_speed': 16.88995325735943, 'height': 0.605665921539867, 'yaw_rate': 0.0, 'effort': 0.6784038334422642, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.482910957055655, 'saturation': 0.06388888888888888, 'length': 1000.0, 'failure': 0.0, 'distance': 760.0478965811744, 'return': 15576.437722651794, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:18,529Z INFO episode phase=validation condition=height_random2__-0.0500 seed=110007 metrics={'x_velocity': 16.845676880026307, 'y_velocity': 0.0, 'planar_speed': 16.845676880026307, 'height': 0.6081883596706461, 'yaw_rate': 0.0, 'effort': 0.677489719622665, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.439183047835474, 'saturation': 0.06314814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 758.0554596011839, 'return': 15642.027736468524, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:18,543Z INFO episode phase=validation condition=height_random2__-0.0500 seed=110004 metrics={'x_velocity': 16.817612691904607, 'y_velocity': 0.0, 'planar_speed': 16.817612691904607, 'height': 0.6048301804990929, 'yaw_rate': 0.0, 'effort': 0.6799387253986464, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.409649457082654, 'saturation': 0.06, 'length': 1000.0, 'failure': 0.0, 'distance': 756.7925711357075, 'return': 15553.852441810399, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:18,557Z INFO episode phase=validation condition=height_random2__-0.0500 seed=110006 metrics={'x_velocity': 16.324289249996735, 'y_velocity': 0.0, 'planar_speed': 16.324289249996735, 'height': 0.6113198995692106, 'yaw_rate': 0.0, 'effort': 0.6808960855669446, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 15.915751599120158, 'saturation': 0.058888888888888886, 'length': 1000.0, 'failure': 0.0, 'distance': 734.5930162498531, 'return': 15083.115261440314, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:19,287Z INFO episode phase=validation condition=height_random2__-0.0500 seed=110008 metrics={'x_velocity': 16.91002431531406, 'y_velocity': 0.0, 'planar_speed': 16.91002431531406, 'height': 0.6063661672267959, 'yaw_rate': 0.0, 'effort': 0.6760613717635473, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.504387492163215, 'saturation': 0.06499999999999999, 'length': 1000.0, 'failure': 0.0, 'distance': 760.9510941891328, 'return': 15644.906570515133, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:19,312Z INFO episode phase=validation condition=height_random2__-0.0500 seed=110009 metrics={'x_velocity': 16.646875648889985, 'y_velocity': 0.0, 'planar_speed': 16.646875648889985, 'height': 0.6071247530762118, 'yaw_rate': 0.0, 'effort': 0.6801577481627464, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.238781000250626, 'saturation': 0.05962962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 749.1094042000494, 'return': 15396.650545961467, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:19,326Z INFO validation {'vector': 'height_random2', 'behavior': 'height', 'alpha': -0.05, 'effect': {'behavior': 'height', 'effect': 0.014509769682640583, 'ci95': [0.009742815246834749, 0.018420159305465526], 'relative_effect': 0.02447906902095054, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6072516615504367, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 15.648312296791783, 'effort': 0.6404964443745299, 'height': 0.6072516615504367, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.001, 'bad_contact': 0.05366666666666666, 'planar_speed': 15.649391278477225, 'saturation': 0.05737037037037036, 'reward': 15.26401443024244, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': True, 'quality_pass': False, 'quality_deltas': {'inversion': 0.001, 'bad_contact': 0.05366666666666666, 'failure': 0.1}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:20,087Z INFO episode phase=validation condition=height_random2__+0.0500 seed=110000 metrics={'x_velocity': 16.638912207952018, 'y_velocity': 0.0, 'planar_speed': 16.638912207952018, 'height': 0.5931446862218472, 'yaw_rate': 0.0, 'effort': 0.6846303039458063, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.228134025365986, 'saturation': 0.0014814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 748.7510493578409, 'return': 15339.937665168269, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:20,106Z INFO episode phase=validation condition=height_random2__+0.0500 seed=110001 metrics={'x_velocity': 16.674540442704554, 'y_velocity': 0.0, 'planar_speed': 16.674540442704554, 'height': 0.5933131171949089, 'yaw_rate': 0.0, 'effort': 0.6812703128986889, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.26577825474679, 'saturation': 0.00018518518518518518, 'length': 1000.0, 'failure': 0.0, 'distance': 750.3543199217049, 'return': 15322.063178402957, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:20,122Z INFO episode phase=validation condition=height_random2__+0.0500 seed=110003 metrics={'x_velocity': 16.76476734327893, 'y_velocity': 0.0, 'planar_speed': 16.76476734327893, 'height': 0.5920487619697964, 'yaw_rate': 0.0, 'effort': 0.6840757680270407, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.35432188277397, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 754.4145304475519, 'return': 15553.661623571585, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:20,134Z INFO episode phase=validation condition=height_random2__+0.0500 seed=110002 metrics={'x_velocity': 16.71692207341747, 'y_velocity': 0.0, 'planar_speed': 16.71692207341747, 'height': 0.5925221196634043, 'yaw_rate': 0.0, 'effort': 0.6835807732741038, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.30677360985037, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 752.2614933037862, 'return': 15440.314500489136, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:20,841Z INFO episode phase=validation condition=height_random2__+0.0500 seed=110004 metrics={'x_velocity': 16.70055713088263, 'y_velocity': 0.0, 'planar_speed': 16.70055713088263, 'height': 0.5931951140024444, 'yaw_rate': 0.0, 'effort': 0.6812272112237082, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.291820804664976, 'saturation': 0.00037037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 751.5250708897183, 'return': 15447.806654634493, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:20,873Z INFO episode phase=validation condition=height_random2__+0.0500 seed=110006 metrics={'x_velocity': 16.74348262664513, 'y_velocity': 0.0, 'planar_speed': 16.74348262664513, 'height': 0.592198452276979, 'yaw_rate': 0.0, 'effort': 0.6834570275081528, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.333408410570716, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 753.4567181990309, 'return': 15459.006391745816, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:20,888Z INFO episode phase=validation condition=height_random2__+0.0500 seed=110007 metrics={'x_velocity': 16.788039008149944, 'y_velocity': 0.0, 'planar_speed': 16.788039008149944, 'height': 0.5916819020444998, 'yaw_rate': 0.0, 'effort': 0.6851121122307248, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.37697174081151, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 755.4617553667475, 'return': 15586.037560146953, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:20,919Z INFO episode phase=validation condition=height_random2__+0.0500 seed=110005 metrics={'x_velocity': 16.467729643982036, 'y_velocity': 0.0, 'planar_speed': 16.467729643982036, 'height': 0.5947435347615178, 'yaw_rate': 0.0, 'effort': 0.6839993014600542, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.057330063053023, 'saturation': 0.0033333333333333335, 'length': 1000.0, 'failure': 0.0, 'distance': 741.0478339791916, 'return': 15193.414918049424, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:21,561Z INFO episode phase=validation condition=height_random2__+0.0500 seed=110008 metrics={'x_velocity': 16.763813557842777, 'y_velocity': 0.0, 'planar_speed': 16.763813557842777, 'height': 0.5921968308003047, 'yaw_rate': 0.0, 'effort': 0.6846264243457052, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.35303770373206, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 754.371610102925, 'return': 15508.691760927091, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:21,625Z INFO episode phase=validation condition=height_random2__+0.0500 seed=110009 metrics={'x_velocity': 16.74851381942589, 'y_velocity': 0.0, 'planar_speed': 16.74851381942589, 'height': 0.5918535888757598, 'yaw_rate': 0.0, 'effort': 0.6848291173908445, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 16.337616348872174, 'saturation': 0.0, 'length': 1000.0, 'failure': 0.0, 'distance': 753.6831218741651, 'return': 15485.602359720859, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:21,642Z INFO validation {'vector': 'height_random2', 'behavior': 'height', 'alpha': 0.05, 'effect': {'behavior': 'height', 'effect': -5.2081086650013206e-05, 'ci95': [-0.0005369204027872484, 0.0005762073201394021], 'relative_effect': -8.78646968681425e-05, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5926898107811461, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 16.700727785428136, 'effort': 0.683680835230483, 'height': 0.5926898107811461, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.700727785428136, 'saturation': 0.000537037037037037, 'reward': 16.290519284444162, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': True, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:22,427Z INFO episode phase=validation condition=height_random2__+0.1000 seed=110001 metrics={'x_velocity': 13.580655338291342, 'y_velocity': 0.0, 'planar_speed': 13.580655338291342, 'height': 0.6225829000132472, 'yaw_rate': 0.0, 'effort': 0.6522729042834706, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.189291595820603, 'saturation': 0.022037037037037036, 'length': 1000.0, 'failure': 0.0, 'distance': 611.1294902231105, 'return': 12553.225185369389, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:22,441Z INFO episode phase=validation condition=height_random2__+0.1000 seed=110000 metrics={'x_velocity': 13.549572801144938, 'y_velocity': 0.0, 'planar_speed': 13.549572801144938, 'height': 0.6247359511190901, 'yaw_rate': 0.0, 'effort': 0.6485369205309285, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.160450648710482, 'saturation': 0.024444444444444446, 'length': 1000.0, 'failure': 0.0, 'distance': 609.7307760515222, 'return': 12579.022626178317, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:22,456Z INFO episode phase=validation condition=height_random2__+0.1000 seed=110002 metrics={'x_velocity': 13.774532317031236, 'y_velocity': 0.0, 'planar_speed': 13.774532317031236, 'height': 0.6207439452970072, 'yaw_rate': 0.0, 'effort': 0.6474516171216965, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.386061346890674, 'saturation': 0.020555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 619.8539542664057, 'return': 12811.673463825406, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:22,473Z INFO episode phase=validation condition=height_random2__+0.1000 seed=110003 metrics={'x_velocity': 4.846216596560546, 'y_velocity': 0.0, 'planar_speed': 4.856299495412634, 'height': 0.5909489597990774, 'yaw_rate': 0.0, 'effort': 0.24385698625403973, 'inversion': 0.03111111111111111, 'bad_contact': 0.6066666666666667, 'reward': 4.699902404904565, 'saturation': 0.011111111111111112, 'length': 1000.0, 'failure': 0.0, 'distance': 218.07974684522458, 'return': 5064.684093489119, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:23,187Z INFO episode phase=validation condition=height_random2__+0.1000 seed=110005 metrics={'x_velocity': 12.971494346853817, 'y_velocity': 0.0, 'planar_speed': 12.971494346853817, 'height': 0.6264933624165193, 'yaw_rate': 0.0, 'effort': 0.656520260506206, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.577582190576585, 'saturation': 0.029444444444444443, 'length': 1000.0, 'failure': 0.0, 'distance': 583.7172456084218, 'return': 12061.641832820631, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:23,201Z INFO episode phase=validation condition=height_random2__+0.1000 seed=110004 metrics={'x_velocity': 13.452309171536312, 'y_velocity': 0.0, 'planar_speed': 13.452309171536312, 'height': 0.6233690912100955, 'yaw_rate': 0.0, 'effort': 0.6498832792871528, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.062379204212373, 'saturation': 0.024629629629629626, 'length': 1000.0, 'failure': 0.0, 'distance': 605.3539127191341, 'return': 12541.309214227147, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:23,215Z INFO episode phase=validation condition=height_random2__+0.1000 seed=110006 metrics={'x_velocity': 13.254776207224584, 'y_velocity': 0.0, 'planar_speed': 13.254776207224584, 'height': 0.6269197604900332, 'yaw_rate': 0.0, 'effort': 0.6514470389899281, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.863907984232958, 'saturation': 0.025925925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 596.4649293251063, 'return': 12336.456008041836, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:23,272Z INFO episode phase=validation condition=height_random2__+0.1000 seed=110007 metrics={'x_velocity': 11.594123641972248, 'y_velocity': 0.0, 'planar_speed': 11.61062615413935, 'height': 0.580466510100441, 'yaw_rate': 0.0, 'effort': 0.5976549088127083, 'inversion': 0.14555555555555555, 'bad_contact': 0.057777777777777775, 'reward': 11.235530696794726, 'saturation': 0.024629629629629626, 'length': 1000.0, 'failure': 0.0, 'distance': 521.7355638887511, 'return': 10958.740620531848, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:23,927Z INFO episode phase=validation condition=height_random2__+0.1000 seed=110008 metrics={'x_velocity': 13.745752088400744, 'y_velocity': 0.0, 'planar_speed': 13.745752088400744, 'height': 0.6196877957975667, 'yaw_rate': 0.0, 'effort': 0.6574032715294096, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.351310126032788, 'saturation': 0.025, 'length': 1000.0, 'failure': 0.0, 'distance': 618.5588439780336, 'return': 12807.136940997747, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:23,940Z INFO episode phase=validation condition=height_random2__+0.1000 seed=110009 metrics={'x_velocity': 13.339675949206802, 'y_velocity': 0.0, 'planar_speed': 13.339675949206802, 'height': 0.6259953350681507, 'yaw_rate': 0.0, 'effort': 0.65329792878694, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.947697192216104, 'saturation': 0.031111111111111107, 'length': 1000.0, 'failure': 0.0, 'distance': 600.2854177143062, 'return': 12434.675118730396, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:23,963Z INFO validation {'vector': 'height_random2', 'behavior': 'height', 'alpha': 0.1, 'effect': {'behavior': 'height', 'effect': 0.023452469263326604, 'ci95': [0.012993524779696642, 0.03172199586118852], 'relative_effect': 0.03956607350532496, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6161943611311227, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 12.410910845822258, 'effort': 0.605832511610248, 'height': 0.6161943611311227, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.017666666666666667, 'bad_contact': 0.06644444444444444, 'planar_speed': 12.413569386924177, 'saturation': 0.023888888888888887, 'reward': 12.047411339039186, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.017666666666666667, 'bad_contact': 0.06644444444444444, 'failure': 0.2}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:24,736Z INFO episode phase=validation condition=height_random2__+0.2000 seed=110002 metrics={'x_velocity': 8.301548374138957, 'y_velocity': 0.0, 'planar_speed': 8.301548374138957, 'height': 0.6444229886286666, 'yaw_rate': 0.0, 'effort': 0.6408310250937939, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.917049759138974, 'saturation': 0.09055555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 373.5696768362531, 'return': 7889.563034848876, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:24,757Z INFO episode phase=validation condition=height_random2__+0.2000 seed=110001 metrics={'x_velocity': 8.062768159576231, 'y_velocity': 0.0, 'planar_speed': 8.062768159576231, 'height': 0.651893015872087, 'yaw_rate': 0.0, 'effort': 0.6413932427763939, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.677932213407067, 'saturation': 0.08777777777777776, 'length': 1000.0, 'failure': 0.0, 'distance': 362.82456718093044, 'return': 7593.001741197207, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:24,772Z INFO episode phase=validation condition=height_random2__+0.2000 seed=110000 metrics={'x_velocity': 7.696583559400336, 'y_velocity': 0.0, 'planar_speed': 7.696583559400336, 'height': 0.6578266366410708, 'yaw_rate': 0.0, 'effort': 0.639542173842589, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 7.312858254399395, 'saturation': 0.08722222222222223, 'length': 1000.0, 'failure': 0.0, 'distance': 346.34626017301514, 'return': 7316.189471298339, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:24,787Z INFO episode phase=validation condition=height_random2__+0.2000 seed=110003 metrics={'x_velocity': 7.663079080178672, 'y_velocity': 0.0, 'planar_speed': 7.663079080178672, 'height': 0.6493932056625424, 'yaw_rate': 0.0, 'effort': 0.6464586110744212, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.275203913305535, 'saturation': 0.09277777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 344.8385586080403, 'return': 7382.455451049992, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:25,477Z INFO episode phase=validation condition=height_random2__+0.2000 seed=110004 metrics={'x_velocity': 7.89854829986779, 'y_velocity': 0.0, 'planar_speed': 7.89854829986779, 'height': 0.659313393025369, 'yaw_rate': 0.0, 'effort': 0.6522078510953321, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.50722358947219, 'saturation': 0.10703703703703704, 'length': 1000.0, 'failure': 0.0, 'distance': 355.43467349405057, 'return': 7541.6691609609825, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:25,495Z INFO episode phase=validation condition=height_random2__+0.2000 seed=110006 metrics={'x_velocity': 5.342290715321168, 'y_velocity': 0.0, 'planar_speed': 5.349143652303138, 'height': 0.6290822824097965, 'yaw_rate': 0.0, 'effort': 0.39188540952280165, 'inversion': 0.022222222222222223, 'bad_contact': 0.37222222222222223, 'reward': 5.1071594693206395, 'saturation': 0.050370370370370364, 'length': 1000.0, 'failure': 0.0, 'distance': 240.40308218945256, 'return': 5355.382344620749, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:25,511Z INFO episode phase=validation condition=height_random2__+0.2000 seed=110005 metrics={'x_velocity': 4.779463655775667, 'y_velocity': 0.0, 'planar_speed': 4.788048010163762, 'height': 0.6298849340556449, 'yaw_rate': 0.0, 'effort': 0.3819768361436824, 'inversion': 0.013333333333333334, 'bad_contact': 0.4, 'reward': 4.550277553800127, 'saturation': 0.05703703703703703, 'length': 1000.0, 'failure': 0.0, 'distance': 215.07586450990505, 'return': 4837.067659721819, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:25,523Z INFO episode phase=validation condition=height_random2__+0.2000 seed=110007 metrics={'x_velocity': 7.956933667897757, 'y_velocity': 0.0, 'planar_speed': 7.956933667897757, 'height': 0.6615350796583198, 'yaw_rate': 0.0, 'effort': 0.650075533307261, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.566888347731276, 'saturation': 0.09814814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 358.0620150553991, 'return': 7656.962506374744, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:26,194Z INFO episode phase=validation condition=height_random2__+0.2000 seed=110009 metrics={'x_velocity': 7.6992850430653865, 'y_velocity': 0.0, 'planar_speed': 7.6992850430653865, 'height': 0.66430545873821, 'yaw_rate': 0.0, 'effort': 0.6447669032795562, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 7.312424901172158, 'saturation': 0.0987037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 346.4678269379424, 'return': 7362.930056790848, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:26,206Z INFO episode phase=validation condition=height_random2__+0.2000 seed=110008 metrics={'x_velocity': 7.792231970785436, 'y_velocity': 0.0, 'planar_speed': 7.792231970785436, 'height': 0.6512409730963797, 'yaw_rate': 0.0, 'effort': 0.6397123237285349, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 7.4084045766311, 'saturation': 0.09296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 350.6504386853446, 'return': 7458.521946536229, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:26,220Z INFO validation {'vector': 'height_random2', 'behavior': 'height', 'alpha': 0.2, 'effect': {'behavior': 'height', 'effect': 0.057147904911012445, 'ci95': [0.04983129667954498, 0.06385052597242394], 'relative_effect': 0.09641279905311398, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6498897967788086, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 7.31927325260074, 'effort': 0.5928849909864367, 'height': 0.6498897967788086, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0035555555555555557, 'bad_contact': 0.07755555555555556, 'planar_speed': 7.320816981737747, 'saturation': 0.08625925925925926, 'reward': 6.9635422578378465, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.0035555555555555557, 'bad_contact': 0.07755555555555556, 'failure': 0.2}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:27,007Z INFO episode phase=validation condition=height_random2__+0.5000 seed=110002 metrics={'x_velocity': 3.260128816003001, 'y_velocity': 0.0, 'planar_speed': 3.309445098099672, 'height': 0.6425907265929955, 'yaw_rate': 0.0, 'effort': 0.6049255874877175, 'inversion': 0.0, 'bad_contact': 0.016666666666666666, 'reward': 2.8971734634416597, 'saturation': 0.15629629629629632, 'length': 1000.0, 'failure': 0.0, 'distance': 146.70579672013506, 'return': 3371.6743687212934, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:27,031Z INFO episode phase=validation condition=height_random2__+0.5000 seed=110003 metrics={'x_velocity': 3.7686401731341586, 'y_velocity': 0.0, 'planar_speed': 3.7686401731341586, 'height': 0.651652432781323, 'yaw_rate': 0.0, 'effort': 0.6152240649031269, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.399505734288312, 'saturation': 0.165, 'length': 1000.0, 'failure': 0.0, 'distance': 169.58880779103714, 'return': 3894.327089934491, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:27,049Z INFO episode phase=validation condition=height_random2__+0.5000 seed=110001 metrics={'x_velocity': 3.558164662248972, 'y_velocity': 0.0, 'planar_speed': 3.558164662248972, 'height': 0.6487929433044565, 'yaw_rate': 0.0, 'effort': 0.6195370989375645, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.1864424028996794, 'saturation': 0.1622222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 160.11740980120376, 'return': 3550.660911740558, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:27,063Z INFO episode phase=validation condition=height_random2__+0.5000 seed=110000 metrics={'x_velocity': 3.599569751469711, 'y_velocity': 0.0, 'planar_speed': 3.599569751469711, 'height': 0.6433111168288962, 'yaw_rate': 0.0, 'effort': 0.6228387771795193, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.2258664852464394, 'saturation': 0.16759259259259257, 'length': 1000.0, 'failure': 0.0, 'distance': 161.980638816137, 'return': 3637.896879060679, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:27,736Z INFO episode phase=validation condition=height_random2__+0.5000 seed=110004 metrics={'x_velocity': 3.672047953607921, 'y_velocity': 0.0, 'planar_speed': 3.672047953607921, 'height': 0.6495582615318582, 'yaw_rate': 0.0, 'effort': 0.6284010319494538, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.295007334254468, 'saturation': 0.17703703703703705, 'length': 1000.0, 'failure': 0.0, 'distance': 165.24215791235645, 'return': 3750.6745312650337, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:27,758Z INFO episode phase=validation condition=height_random2__+0.5000 seed=110005 metrics={'x_velocity': 1.4762309116321883, 'y_velocity': 0.0, 'planar_speed': 1.6520893424620802, 'height': 0.25955248293606675, 'yaw_rate': 0.0, 'effort': 0.35840573020072447, 'inversion': 0.8811111111111111, 'bad_contact': 0.3522222222222222, 'reward': 1.2611874730883124, 'saturation': 0.025, 'length': 1000.0, 'failure': 0.0, 'distance': 66.43039102344848, 'return': 1876.8865870811858, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:27,775Z INFO episode phase=validation condition=height_random2__+0.5000 seed=110006 metrics={'x_velocity': 3.3182410705865877, 'y_velocity': 0.0, 'planar_speed': 3.3373328707289702, 'height': 0.6440232924656397, 'yaw_rate': 0.0, 'effort': 0.6052358634562955, 'inversion': 0.0, 'bad_contact': 0.012222222222222223, 'reward': 2.9550995521990586, 'saturation': 0.15481481481481482, 'length': 1000.0, 'failure': 0.0, 'distance': 149.32084817639645, 'return': 3418.528419211325, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:27,786Z INFO episode phase=validation condition=height_random2__+0.5000 seed=110007 metrics={'x_velocity': 3.430206317365341, 'y_velocity': 0.0, 'planar_speed': 3.4573526822597804, 'height': 0.6508173780248282, 'yaw_rate': 0.0, 'effort': 0.6019992768723104, 'inversion': 0.005555555555555556, 'bad_contact': 0.01, 'reward': 3.069006751898434, 'saturation': 0.14777777777777779, 'length': 1000.0, 'failure': 0.0, 'distance': 154.35928428144038, 'return': 3608.8690701251867, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:28,443Z INFO episode phase=validation condition=height_random2__+0.5000 seed=110008 metrics={'x_velocity': 3.2731347736926586, 'y_velocity': 0.0, 'planar_speed': 3.2928840770274266, 'height': 0.6436380520629487, 'yaw_rate': 0.0, 'effort': 0.6065867542765206, 'inversion': 0.0, 'bad_contact': 0.023333333333333334, 'reward': 2.9091827217020967, 'saturation': 0.1551851851851852, 'length': 1000.0, 'failure': 0.0, 'distance': 147.29106481616964, 'return': 3409.2222771001266, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:28,494Z INFO episode phase=validation condition=height_random2__+0.5000 seed=110009 metrics={'x_velocity': 3.4640304004413625, 'y_velocity': 0.0, 'planar_speed': 3.474333891990299, 'height': 0.6535739122897308, 'yaw_rate': 0.0, 'effort': 0.6236882815592819, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 3.089817431687919, 'saturation': 0.16777777777777778, 'length': 1000.0, 'failure': 0.0, 'distance': 155.88136801986133, 'return': 3562.583334255031, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:28,509Z INFO validation {'vector': 'height_random2', 'behavior': 'height', 'alpha': 0.5, 'effect': {'behavior': 'height', 'effect': 0.016009168014078128, 'ci95': [-0.06205835931221165, 0.056782468830740916], 'relative_effect': 0.027008666392097657, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6087510598818743, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 3.2820394830181905, 'effort': 0.5886842466822515, 'height': 0.6087510598818743, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.08866666666666666, 'bad_contact': 0.04144444444444444, 'planar_speed': 3.3121860503028993, 'saturation': 0.14787037037037037, 'reward': 2.928828935070638, 'failure': 0.1, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.08866666666666666, 'bad_contact': 0.04144444444444444, 'failure': 0.1}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:29,303Z INFO episode phase=validation condition=height_shuffled__-0.5000 seed=110000 metrics={'x_velocity': 1.097805768281416, 'y_velocity': 0.0, 'planar_speed': 1.2123111999691611, 'height': 0.20609974797477623, 'yaw_rate': 0.0, 'effort': 0.22452651618928132, 'inversion': 0.9377777777777778, 'bad_contact': 0.47333333333333333, 'reward': 0.9630898584414977, 'saturation': 0.015, 'length': 1000.0, 'failure': 0.0, 'distance': 49.40125957266372, 'return': 1601.3979149362315, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:29,319Z INFO episode phase=validation condition=height_shuffled__-0.5000 seed=110001 metrics={'x_velocity': 0.6238580898953224, 'y_velocity': 0.0, 'planar_speed': 0.623882904069477, 'height': 0.17462744799881635, 'yaw_rate': 0.0, 'effort': 0.050524736831171646, 'inversion': 0.9477777777777778, 'bad_contact': 0.9188888888888889, 'reward': 0.5935432479534958, 'saturation': 0.010925925925925924, 'length': 1000.0, 'failure': 0.0, 'distance': 28.07361404528951, 'return': 1217.051672288992, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:29,333Z INFO episode phase=validation condition=height_shuffled__-0.5000 seed=110003 metrics={'x_velocity': 0.6643060658748063, 'y_velocity': 0.0, 'planar_speed': 0.6651545557534921, 'height': 0.31233870791757873, 'yaw_rate': 0.0, 'effort': 0.9721082485218843, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 0.08104112728189547, 'saturation': 0.9409259259259258, 'length': 1000.0, 'failure': 0.0, 'distance': 29.89377296436629, 'return': 907.7089436287163, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:29,345Z INFO episode phase=validation condition=height_shuffled__-0.5000 seed=110002 metrics={'x_velocity': 0.5546961796229192, 'y_velocity': 0.0, 'planar_speed': 0.5601813418456402, 'height': 0.3107149538261058, 'yaw_rate': 0.0, 'effort': 0.9690434526486529, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': -0.026729881702684047, 'saturation': 0.9414814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 24.96132808303136, 'return': 740.1613580913836, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:30,056Z INFO episode phase=validation condition=height_shuffled__-0.5000 seed=110004 metrics={'x_velocity': 0.600613057656756, 'y_velocity': 0.0, 'planar_speed': 0.6020119709658007, 'height': 0.3152179238673893, 'yaw_rate': 0.0, 'effort': 0.9631501422242986, 'inversion': 0.0022222222222222222, 'bad_contact': 0.0011111111111111111, 'reward': 0.022722982767890774, 'saturation': 0.94, 'length': 1000.0, 'failure': 0.0, 'distance': 27.02758759455402, 'return': 805.6186149271136, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:30,066Z INFO episode phase=validation condition=height_shuffled__-0.5000 seed=110005 metrics={'x_velocity': 0.6130321206654389, 'y_velocity': 0.0, 'planar_speed': 0.6180495104551668, 'height': 0.3036719707003692, 'yaw_rate': 0.0, 'effort': 0.9760157077842289, 'inversion': 0.0, 'bad_contact': 0.0044444444444444444, 'reward': 0.027422706392600655, 'saturation': 0.9524074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 27.586445429944753, 'return': 766.4982970550452, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:30,079Z INFO episode phase=validation condition=height_shuffled__-0.5000 seed=110007 metrics={'x_velocity': 1.100267219452036, 'y_velocity': 0.0, 'planar_speed': 1.2319193215700979, 'height': 0.22365942939482353, 'yaw_rate': 0.0, 'effort': 0.21771216818545427, 'inversion': 0.9333333333333333, 'bad_contact': 0.4777777777777778, 'reward': 0.9696399186713555, 'saturation': 0.010000000000000002, 'length': 1000.0, 'failure': 0.0, 'distance': 49.512024875341616, 'return': 1719.4389202208163, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:30,095Z INFO episode phase=validation condition=height_shuffled__-0.5000 seed=110006 metrics={'x_velocity': 0.6301749647195124, 'y_velocity': 0.0, 'planar_speed': 0.6353221993516447, 'height': 0.5896562142459243, 'yaw_rate': 0.0, 'effort': 0.04969685803891884, 'inversion': 0.034444444444444444, 'bad_contact': 0.9122222222222223, 'reward': 0.6003568498253805, 'saturation': 0.007037037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 28.35787341237806, 'return': 1299.2599870750153, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:30,815Z INFO episode phase=validation condition=height_shuffled__-0.5000 seed=110009 metrics={'x_velocity': 0.5967482940137404, 'y_velocity': 0.0, 'planar_speed': 0.5968748801515399, 'height': 0.31743616288946536, 'yaw_rate': 0.0, 'effort': 0.9646563475206494, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 0.017954495916434516, 'saturation': 0.9433333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 26.85367323061832, 'return': 797.9066920606949, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:30,827Z INFO episode phase=validation condition=height_shuffled__-0.5000 seed=110008 metrics={'x_velocity': 0.6400645021785308, 'y_velocity': 0.0, 'planar_speed': 0.64507986128359, 'height': 0.3190305499437457, 'yaw_rate': 0.0, 'effort': 0.9594857366714212, 'inversion': 0.0, 'bad_contact': 0.0033333333333333335, 'reward': 0.06437307053860776, 'saturation': 0.9314814814814814, 'length': 1000.0, 'failure': 0.0, 'distance': 28.80290259803389, 'return': 848.893591052986, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:30,841Z INFO validation {'vector': 'height_shuffled', 'behavior': 'height', 'alpha': -0.5, 'effect': {'behavior': 'height', 'effect': -0.2854965809918968, 'ci95': [-0.3443163170859851, -0.21155633280427316], 'relative_effect': -0.48165413126490025, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.30724531087589946, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 0.7121566262360478, 'effort': 0.6346919914615963, 'height': 0.30724531087589946, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.28555555555555556, 'bad_contact': 0.2796666666666667, 'planar_speed': 0.739078774541561, 'saturation': 0.5692592592592592, 'reward': 0.3313414376086475, 'failure': 0.4, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.28555555555555556, 'bad_contact': 0.2796666666666667, 'failure': 0.4}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:31,588Z INFO episode phase=validation condition=height_shuffled__-0.2000 seed=110001 metrics={'x_velocity': 0.5853683480488753, 'y_velocity': 0.0, 'planar_speed': 0.5958020517870952, 'height': 0.17997831161411967, 'yaw_rate': 0.0, 'effort': 0.0481096861177745, 'inversion': 0.9633333333333334, 'bad_contact': 0.9222222222222223, 'reward': 0.5565025367007068, 'saturation': 0.0044444444444444444, 'length': 1000.0, 'failure': 0.0, 'distance': 26.34157566219939, 'return': 1183.7150321614827, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:31,603Z INFO episode phase=validation condition=height_shuffled__-0.2000 seed=110000 metrics={'x_velocity': 1.1247810469110482, 'y_velocity': 0.0, 'planar_speed': 1.567091466128547, 'height': 0.5238538118691806, 'yaw_rate': 0.0, 'effort': 0.6287343710992072, 'inversion': 0.0, 'bad_contact': 0.03333333333333333, 'reward': 0.7475404245727266, 'saturation': 0.1824074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 50.61514711099717, 'return': 1407.4034244543375, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:31,619Z INFO episode phase=validation condition=height_shuffled__-0.2000 seed=110002 metrics={'x_velocity': 0.6271454350804402, 'y_velocity': 0.0, 'planar_speed': 0.6356710407527789, 'height': 0.5798023185654125, 'yaw_rate': 0.0, 'effort': 0.039664797678900264, 'inversion': 0.011111111111111112, 'bad_contact': 0.9177777777777778, 'reward': 0.6033465564789985, 'saturation': 0.0038888888888888888, 'length': 1000.0, 'failure': 0.0, 'distance': 28.22154457861981, 'return': 1307.230152454898, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:31,639Z INFO episode phase=validation condition=height_shuffled__-0.2000 seed=110003 metrics={'x_velocity': 1.33317427802227, 'y_velocity': 0.0, 'planar_speed': 1.496543701386905, 'height': 0.4268483376112931, 'yaw_rate': 0.0, 'effort': 0.7240917518486579, 'inversion': 0.0, 'bad_contact': 0.023333333333333334, 'reward': 0.89871922727567, 'saturation': 0.29351851851851846, 'length': 1000.0, 'failure': 0.0, 'distance': 59.99284251100215, 'return': 1643.6192336231134, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:32,443Z INFO episode phase=validation condition=height_shuffled__-0.2000 seed=110004 metrics={'x_velocity': 1.1527846253436493, 'y_velocity': 0.0, 'planar_speed': 1.4476370002327275, 'height': 0.4597060650538903, 'yaw_rate': 0.0, 'effort': 0.6810541811750995, 'inversion': 0.0, 'bad_contact': 0.04, 'reward': 0.7441521168008469, 'saturation': 0.25722222222222224, 'length': 1000.0, 'failure': 0.0, 'distance': 51.87530814046423, 'return': 1454.9048355567743, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:32,482Z INFO episode phase=validation condition=height_shuffled__-0.2000 seed=110005 metrics={'x_velocity': 0.8335197235259583, 'y_velocity': 0.0, 'planar_speed': 0.9183475095691495, 'height': 0.34424744951413244, 'yaw_rate': 0.0, 'effort': 0.8201861093193292, 'inversion': 0.0, 'bad_contact': 0.006666666666666667, 'reward': 0.3414080573532154, 'saturation': 0.4048148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 37.508387558668126, 'return': 1049.0851129195985, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:32,505Z INFO episode phase=validation condition=height_shuffled__-0.2000 seed=110007 metrics={'x_velocity': 1.0029634282721642, 'y_velocity': 0.0, 'planar_speed': 1.1034838391337989, 'height': 0.3617987846612484, 'yaw_rate': 0.0, 'effort': 0.7947392383797302, 'inversion': 0.0, 'bad_contact': 0.011111111111111112, 'reward': 0.5261198853916822, 'saturation': 0.3746296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 45.133354272247395, 'return': 1320.2708902691102, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:32,520Z INFO episode phase=validation condition=height_shuffled__-0.2000 seed=110006 metrics={'x_velocity': 1.6876788619008944, 'y_velocity': 0.0, 'planar_speed': 2.0304663006242163, 'height': 0.5125151639709654, 'yaw_rate': 0.0, 'effort': 0.6357493957711591, 'inversion': 0.0, 'bad_contact': 0.025555555555555557, 'reward': 1.3062292242295823, 'saturation': 0.19092592592592592, 'length': 1000.0, 'failure': 0.0, 'distance': 75.94554878554025, 'return': 1934.545124038797, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:33,225Z INFO episode phase=validation condition=height_shuffled__-0.2000 seed=110008 metrics={'x_velocity': 0.6416895220100951, 'y_velocity': 0.0, 'planar_speed': 0.6489036786661766, 'height': 0.5782355916156461, 'yaw_rate': 0.0, 'effort': 0.04031790806187524, 'inversion': 0.02, 'bad_contact': 0.91, 'reward': 0.617498777136131, 'saturation': 0.004814814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 28.87602849045428, 'return': 1346.7067269907573, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:33,311Z INFO episode phase=validation condition=height_shuffled__-0.2000 seed=110009 metrics={'x_velocity': 0.6991921582845503, 'y_velocity': 0.0, 'planar_speed': 0.7516181593071888, 'height': 0.33845556805793003, 'yaw_rate': 0.0, 'effort': 0.8441889640688897, 'inversion': 0.0, 'bad_contact': 0.012222222222222223, 'reward': 0.19267877953194779, 'saturation': 0.439074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 31.463647122804765, 'return': 955.158547314657, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:33,330Z INFO validation {'vector': 'height_shuffled', 'behavior': 'height', 'alpha': -0.2, 'effect': {'behavior': 'height', 'effect': -0.16219775161441438, 'ci95': [-0.24144705262067484, -0.09308957083513032], 'relative_effect': -0.27363976435563053, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.4305441402533819, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 0.9688297427399943, 'effort': 0.5256836403520622, 'height': 0.4305441402533819, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.09944444444444445, 'bad_contact': 0.29022222222222227, 'planar_speed': 1.1195564747588582, 'saturation': 0.21557407407407406, 'reward': 0.6534195585471506, 'failure': 0.3, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.09944444444444445, 'bad_contact': 0.29022222222222227, 'failure': 0.3}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:34,117Z INFO episode phase=validation condition=height_shuffled__-0.1000 seed=110003 metrics={'x_velocity': 9.34683057670341, 'y_velocity': 0.0, 'planar_speed': 9.34683057670341, 'height': 0.6235417901965851, 'yaw_rate': 0.0, 'effort': 0.564379057801432, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.008203142111958, 'saturation': 0.03259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 420.6073759516534, 'return': 8942.154756975771, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:34,131Z INFO episode phase=validation condition=height_shuffled__-0.1000 seed=110002 metrics={'x_velocity': 2.331563625482828, 'y_velocity': 0.0, 'planar_speed': 2.419080012052698, 'height': 0.25323396785905294, 'yaw_rate': 0.0, 'effort': 0.3010320335916347, 'inversion': 0.8566666666666667, 'bad_contact': 0.4088888888888889, 'reward': 2.1509444054694082, 'saturation': 0.008148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 104.92036314672725, 'return': 2700.0682165462667, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:34,142Z INFO episode phase=validation condition=height_shuffled__-0.1000 seed=110001 metrics={'x_velocity': 9.09827787490806, 'y_velocity': 0.0, 'planar_speed': 9.099329047452851, 'height': 0.6219720021235685, 'yaw_rate': 0.0, 'effort': 0.5847926831824912, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 8.747402265126052, 'saturation': 0.041296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 409.4225043708627, 'return': 8555.524787744293, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:34,154Z INFO episode phase=validation condition=height_shuffled__-0.1000 seed=110000 metrics={'x_velocity': 9.238119426297166, 'y_velocity': 0.0, 'planar_speed': 9.238119426297166, 'height': 0.6245494157065677, 'yaw_rate': 0.0, 'effort': 0.570981771651552, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 8.895530363041427, 'saturation': 0.03925925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 415.7153741833725, 'return': 8740.594369076167, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:34,875Z INFO episode phase=validation condition=height_shuffled__-0.1000 seed=110005 metrics={'x_velocity': 9.758815105533852, 'y_velocity': 0.0, 'planar_speed': 9.758815105533852, 'height': 0.6275244515765611, 'yaw_rate': 0.0, 'effort': 0.5745993694083558, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 9.41405548419183, 'saturation': 0.028148148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 439.14667974902335, 'return': 9214.46779707435, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:34,892Z INFO episode phase=validation condition=height_shuffled__-0.1000 seed=110007 metrics={'x_velocity': 8.671194241990541, 'y_velocity': 0.0, 'planar_speed': 8.688166004684184, 'height': 0.614220531660747, 'yaw_rate': 0.0, 'effort': 0.5724368481172456, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 8.327732132491033, 'saturation': 0.042777777777777776, 'length': 1000.0, 'failure': 0.0, 'distance': 390.20374088957436, 'return': 8341.721912658526, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:34,906Z INFO episode phase=validation condition=height_shuffled__-0.1000 seed=110004 metrics={'x_velocity': 5.058188466026058, 'y_velocity': 0.0, 'planar_speed': 5.065896814753469, 'height': 0.5986345413839664, 'yaw_rate': 0.0, 'effort': 0.30650499686909216, 'inversion': 0.023333333333333334, 'bad_contact': 0.44333333333333336, 'reward': 4.87428546808528, 'saturation': 0.017962962962962962, 'length': 1000.0, 'failure': 0.0, 'distance': 227.61848097117263, 'return': 5172.024851712765, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:34,918Z INFO episode phase=validation condition=height_shuffled__-0.1000 seed=110006 metrics={'x_velocity': 8.199776689261025, 'y_velocity': 0.0, 'planar_speed': 8.199997081473969, 'height': 0.6357791607254919, 'yaw_rate': 0.0, 'effort': 0.581908348782195, 'inversion': 0.0, 'bad_contact': 0.0044444444444444444, 'reward': 7.850631680054622, 'saturation': 0.04759259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 368.9899510167461, 'return': 7824.507334281332, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:35,639Z INFO episode phase=validation condition=height_shuffled__-0.1000 seed=110009 metrics={'x_velocity': 9.333803693939752, 'y_velocity': 0.0, 'planar_speed': 9.333803693939752, 'height': 0.6233943865948539, 'yaw_rate': 0.0, 'effort': 0.5641429014255603, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 8.99531795308607, 'saturation': 0.03074074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 420.02116622728886, 'return': 8877.533803513368, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:35,652Z INFO episode phase=validation condition=height_shuffled__-0.1000 seed=110008 metrics={'x_velocity': 9.253033714193329, 'y_velocity': 0.0, 'planar_speed': 9.253033714193329, 'height': 0.6200781207144086, 'yaw_rate': 0.0, 'effort': 0.5689339834368892, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 8.911673324053377, 'saturation': 0.03407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 416.3865171386998, 'return': 8811.463819216278, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:35,666Z INFO validation {'vector': 'height_shuffled', 'behavior': 'height', 'alpha': -0.1, 'effect': {'behavior': 'height', 'effect': -0.008449055013615914, 'ci95': [-0.08387097161247122, 0.032853980681116834], 'relative_effect': -0.014254189099056245, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5842928368541803, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.028960341433603, 'effort': 0.5189711994266448, 'height': 0.5842928368541803, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.088, 'bad_contact': 0.08622222222222223, 'planar_speed': 8.040307147708468, 'saturation': 0.03225925925925926, 'reward': 7.717577621771106, 'failure': 0.2, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.088, 'bad_contact': 0.08622222222222223, 'failure': 0.2}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:36,538Z INFO episode phase=validation condition=height_shuffled__-0.0500 seed=110000 metrics={'x_velocity': 12.760953910205382, 'y_velocity': 0.0, 'planar_speed': 12.760953910205382, 'height': 0.6376813489907691, 'yaw_rate': 0.0, 'effort': 0.5799501623047723, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.412983812756291, 'saturation': 0.022407407407407404, 'length': 1000.0, 'failure': 0.0, 'distance': 574.2429259592421, 'return': 11906.302473819545, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:36,553Z INFO episode phase=validation condition=height_shuffled__-0.0500 seed=110003 metrics={'x_velocity': 13.784953543592342, 'y_velocity': 0.0, 'planar_speed': 13.784953543592342, 'height': 0.6286714960249151, 'yaw_rate': 0.0, 'effort': 0.5586853979693519, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.44974230492994, 'saturation': 0.015185185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 620.3229094616554, 'return': 12939.540003511956, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:36,566Z INFO episode phase=validation condition=height_shuffled__-0.0500 seed=110001 metrics={'x_velocity': 13.899571333109614, 'y_velocity': 0.0, 'planar_speed': 13.899571333109614, 'height': 0.6258668180724486, 'yaw_rate': 0.0, 'effort': 0.5605311450362206, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.563252646001787, 'saturation': 0.011296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 625.4807099899326, 'return': 12889.790130532456, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:36,581Z INFO episode phase=validation condition=height_shuffled__-0.0500 seed=110002 metrics={'x_velocity': 13.502884769429649, 'y_velocity': 0.0, 'planar_speed': 13.502884769429649, 'height': 0.6247219986701151, 'yaw_rate': 0.0, 'effort': 0.5577650858296288, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.16822571795836, 'saturation': 0.013333333333333334, 'length': 1000.0, 'failure': 0.0, 'distance': 607.6298146243342, 'return': 12615.621397786324, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:37,325Z INFO episode phase=validation condition=height_shuffled__-0.0500 seed=110006 metrics={'x_velocity': 14.400024746082737, 'y_velocity': 0.0, 'planar_speed': 14.400024746082737, 'height': 0.6290288544387956, 'yaw_rate': 0.0, 'effort': 0.5473537217908435, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.071612513432086, 'saturation': 0.008518518518518519, 'length': 1000.0, 'failure': 0.0, 'distance': 648.0011135737232, 'return': 13423.39008432105, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:37,338Z INFO episode phase=validation condition=height_shuffled__-0.0500 seed=110004 metrics={'x_velocity': 14.332821013326724, 'y_velocity': 0.0, 'planar_speed': 14.332821013326724, 'height': 0.6292350354545376, 'yaw_rate': 0.0, 'effort': 0.5506250913855102, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 14.00244595838449, 'saturation': 0.009259259259259259, 'length': 1000.0, 'failure': 0.0, 'distance': 644.9769455997026, 'return': 13387.369292982054, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:37,350Z INFO episode phase=validation condition=height_shuffled__-0.0500 seed=110007 metrics={'x_velocity': 13.656512491715617, 'y_velocity': 0.0, 'planar_speed': 13.656512491715617, 'height': 0.6255743244848316, 'yaw_rate': 0.0, 'effort': 0.5645457768771384, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.317785025410522, 'saturation': 0.015925925925925923, 'length': 1000.0, 'failure': 0.0, 'distance': 614.5430621272028, 'return': 12832.769516286065, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:37,364Z INFO episode phase=validation condition=height_shuffled__-0.0500 seed=110005 metrics={'x_velocity': 13.434702246263736, 'y_velocity': 0.0, 'planar_speed': 13.434702246263736, 'height': 0.6238223710195986, 'yaw_rate': 0.0, 'effort': 0.5672800703015592, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.094334203940411, 'saturation': 0.01574074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 604.5616010818682, 'return': 12526.718644848075, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:38,142Z INFO episode phase=validation condition=height_shuffled__-0.0500 seed=110008 metrics={'x_velocity': 13.685317493812985, 'y_velocity': 0.0, 'planar_speed': 13.685317493812985, 'height': 0.6287262365934225, 'yaw_rate': 0.0, 'effort': 0.560659748028136, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.348921645099995, 'saturation': 0.012407407407407407, 'length': 1000.0, 'failure': 0.0, 'distance': 615.8392872215844, 'return': 12804.987308158235, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:38,161Z INFO episode phase=validation condition=height_shuffled__-0.0500 seed=110009 metrics={'x_velocity': 13.612177137530695, 'y_velocity': 0.0, 'planar_speed': 13.612177137530695, 'height': 0.6316137039428044, 'yaw_rate': 0.0, 'effort': 0.5628000906440946, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 13.274497082985294, 'saturation': 0.01648148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 612.5479711888813, 'return': 12728.795020422667, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:38,175Z INFO validation {'vector': 'height_shuffled', 'behavior': 'height', 'alpha': -0.05, 'effect': {'behavior': 'height', 'effect': 0.0357523269014276, 'ci95': [0.03376076445017249, 0.038264994803760076], 'relative_effect': 0.06031685526522853, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.6284942187692237, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 13.70699186850695, 'effort': 0.5610196290167255, 'height': 0.6284942187692237, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 13.70699186850695, 'saturation': 0.014055555555555554, 'reward': 13.370380091089917, 'failure': 0.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': True, 'quality_deltas': {'inversion': 0.0, 'bad_contact': 0.0, 'failure': 0.0}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:38,929Z INFO episode phase=validation condition=height_shuffled__+0.0500 seed=110001 metrics={'x_velocity': 0.826550133892793, 'y_velocity': 0.0, 'planar_speed': 0.8397015948371848, 'height': 0.5600212861782922, 'yaw_rate': 0.0, 'effort': 0.0580183661584225, 'inversion': 0.044444444444444446, 'bad_contact': 0.9, 'reward': 0.7917391141724902, 'saturation': 0.005555555555555556, 'length': 1000.0, 'failure': 0.0, 'distance': 37.194756025175685, 'return': 1395.4279518860876, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:38,945Z INFO episode phase=validation condition=height_shuffled__+0.0500 seed=110000 metrics={'x_velocity': 13.011106766313496, 'y_velocity': 0.0, 'planar_speed': 13.011106766313496, 'height': 0.670239884031422, 'yaw_rate': 0.0, 'effort': 0.6881797647476197, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.598198906935103, 'saturation': 0.11777777777777777, 'length': 1000.0, 'failure': 0.0, 'distance': 585.4998044841074, 'return': 12072.996058580477, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:38,958Z INFO episode phase=validation condition=height_shuffled__+0.0500 seed=110002 metrics={'x_velocity': 12.962040808512013, 'y_velocity': 0.0, 'planar_speed': 12.962040808512013, 'height': 0.6637311176588229, 'yaw_rate': 0.0, 'effort': 0.6816842997074127, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 12.553030229045191, 'saturation': 0.1087037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 583.2918363830406, 'return': 12061.945457764472, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:38,972Z INFO episode phase=validation condition=height_shuffled__+0.0500 seed=110003 metrics={'x_velocity': 8.95332825903562, 'y_velocity': 0.0, 'planar_speed': 8.967044260904778, 'height': 0.6263716119154561, 'yaw_rate': 0.0, 'effort': 0.471057126224041, 'inversion': 0.024444444444444446, 'bad_contact': 0.29777777777777775, 'reward': 8.670693983237452, 'saturation': 0.08185185185185184, 'length': 1000.0, 'failure': 0.0, 'distance': 402.8997716566029, 'return': 8638.396513988715, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:39,690Z INFO episode phase=validation condition=height_shuffled__+0.0500 seed=110004 metrics={'x_velocity': 0.926311694285251, 'y_velocity': 0.0, 'planar_speed': 0.9263693132078459, 'height': 0.17163743059747263, 'yaw_rate': 0.0, 'effort': 0.07985002509835694, 'inversion': 0.96, 'bad_contact': 0.9088888888888889, 'reward': 0.87840167909461, 'saturation': 0.00537037037037037, 'length': 1000.0, 'failure': 0.0, 'distance': 41.684026242836296, 'return': 1575.729441621161, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:39,702Z INFO episode phase=validation condition=height_shuffled__+0.0500 seed=110005 metrics={'x_velocity': 13.286594042742864, 'y_velocity': 0.0, 'planar_speed': 13.286594042742864, 'height': 0.6612332728279501, 'yaw_rate': 0.0, 'effort': 0.6976253350906901, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 12.868018841708318, 'saturation': 0.12425925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 597.8967319234289, 'return': 12323.03481883919, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:39,721Z INFO episode phase=validation condition=height_shuffled__+0.0500 seed=110006 metrics={'x_velocity': 1.304906680126187, 'y_velocity': 0.0, 'planar_speed': 1.3151438002110556, 'height': 0.5640197085266547, 'yaw_rate': 0.0, 'effort': 0.08251136792616712, 'inversion': 0.03666666666666667, 'bad_contact': 0.8633333333333333, 'reward': 1.2553998593050875, 'saturation': 0.012222222222222223, 'length': 1000.0, 'failure': 0.0, 'distance': 58.72080060567842, 'return': 1888.7986956067516, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:39,734Z INFO episode phase=validation condition=height_shuffled__+0.0500 seed=110007 metrics={'x_velocity': 13.381065393687583, 'y_velocity': 0.0, 'planar_speed': 13.381065393687583, 'height': 0.6586098744401746, 'yaw_rate': 0.0, 'effort': 0.6885521780947844, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 12.967934086588983, 'saturation': 0.11740740740740739, 'length': 1000.0, 'failure': 0.0, 'distance': 602.1479427159413, 'return': 12517.903671346681, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:40,433Z INFO episode phase=validation condition=height_shuffled__+0.0500 seed=110008 metrics={'x_velocity': 13.163897200311274, 'y_velocity': 0.0, 'planar_speed': 13.163897200311274, 'height': 0.6589725745495887, 'yaw_rate': 0.0, 'effort': 0.6837040957146221, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 12.753674742809649, 'saturation': 0.10925925925925925, 'length': 1000.0, 'failure': 0.0, 'distance': 592.3753740140073, 'return': 12269.265096096924, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:40,457Z INFO episode phase=validation condition=height_shuffled__+0.0500 seed=110009 metrics={'x_velocity': 13.09552488498191, 'y_velocity': 0.0, 'planar_speed': 13.09552488498191, 'height': 0.6659718682653029, 'yaw_rate': 0.0, 'effort': 0.6889259061548445, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 12.682169341262512, 'saturation': 0.11740740740740739, 'length': 1000.0, 'failure': 0.0, 'distance': 589.298619824186, 'return': 12195.700052872166, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:40,470Z INFO validation {'vector': 'height_shuffled', 'behavior': 'height', 'alpha': 0.05, 'effect': {'behavior': 'height', 'effect': -0.002661028968682566, 'ci95': [-0.1062791228226695, 0.060542701691733994], 'relative_effect': -0.0044893553251270394, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5900808628991137, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 9.091132586388898, 'effort': 0.4820108464916961, 'height': 0.5900808628991137, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.10655555555555556, 'bad_contact': 0.2975555555555555, 'planar_speed': 9.094848806571001, 'saturation': 0.07998148148148149, 'reward': 8.801926078415939, 'failure': 0.4, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.10655555555555556, 'bad_contact': 0.2975555555555555, 'failure': 0.4}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:41,247Z INFO episode phase=validation condition=height_shuffled__+0.1000 seed=110001 metrics={'x_velocity': 2.0421958854085207, 'y_velocity': 0.0, 'planar_speed': 2.055487718674999, 'height': 0.580208265477364, 'yaw_rate': 0.0, 'effort': 0.14561979254500734, 'inversion': 0.014444444444444444, 'bad_contact': 0.7888888888888889, 'reward': 1.9548240098699272, 'saturation': 0.032407407407407406, 'length': 1000.0, 'failure': 0.0, 'distance': 91.89881484338343, 'return': 2442.20435801378, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:41,260Z INFO episode phase=validation condition=height_shuffled__+0.1000 seed=110002 metrics={'x_velocity': 10.676020360876807, 'y_velocity': 0.0, 'planar_speed': 10.676020360876807, 'height': 0.6726113441730965, 'yaw_rate': 0.0, 'effort': 0.6963473717868328, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 10.25821193754311, 'saturation': 0.19648148148148145, 'length': 1000.0, 'failure': 0.0, 'distance': 480.42091623945635, 'return': 9996.608995412596, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:41,272Z INFO episode phase=validation condition=height_shuffled__+0.1000 seed=110003 metrics={'x_velocity': 11.213063057334443, 'y_velocity': 0.0, 'planar_speed': 11.213063057334443, 'height': 0.6703347897282266, 'yaw_rate': 0.0, 'effort': 0.695609969397386, 'inversion': 0.0, 'bad_contact': 0.0, 'reward': 10.795697075424478, 'saturation': 0.18148148148148147, 'length': 1000.0, 'failure': 0.0, 'distance': 504.58783758004995, 'return': 10550.89929695704, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:41,285Z INFO episode phase=validation condition=height_shuffled__+0.1000 seed=110000 metrics={'x_velocity': 10.80878786170735, 'y_velocity': 0.0, 'planar_speed': 10.80878786170735, 'height': 0.686110464288152, 'yaw_rate': 0.0, 'effort': 0.6953777511583434, 'inversion': 0.0, 'bad_contact': 0.0022222222222222222, 'reward': 10.39156121100572, 'saturation': 0.19129629629629633, 'length': 1000.0, 'failure': 0.0, 'distance': 486.3954537768307, 'return': 10087.02213224403, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:42,028Z INFO episode phase=validation condition=height_shuffled__+0.1000 seed=110004 metrics={'x_velocity': 11.493252371748522, 'y_velocity': 0.0, 'planar_speed': 11.493252371748522, 'height': 0.6751579258474498, 'yaw_rate': 0.0, 'effort': 0.6851266770892673, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 11.082176365342638, 'saturation': 0.17296296296296296, 'length': 1000.0, 'failure': 0.0, 'distance': 517.1963567286834, 'return': 10759.126659244388, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:42,061Z INFO episode phase=validation condition=height_shuffled__+0.1000 seed=110005 metrics={'x_velocity': 10.701789799954733, 'y_velocity': 0.0, 'planar_speed': 10.708397793544489, 'height': 0.6750971902383319, 'yaw_rate': 0.0, 'effort': 0.6490338328666985, 'inversion': 0.013333333333333334, 'bad_contact': 0.044444444444444446, 'reward': 10.31236950016062, 'saturation': 0.18055555555555555, 'length': 1000.0, 'failure': 0.0, 'distance': 481.580540997963, 'return': 10022.950411446263, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:42,077Z INFO episode phase=validation condition=height_shuffled__+0.1000 seed=110007 metrics={'x_velocity': 3.4694511114587248, 'y_velocity': 0.0, 'planar_speed': 3.469527543262338, 'height': 0.31165308439883654, 'yaw_rate': 0.0, 'effort': 0.2467487933072779, 'inversion': 0.7033333333333334, 'bad_contact': 0.6666666666666666, 'reward': 3.321401835085272, 'saturation': 0.06314814814814815, 'length': 1000.0, 'failure': 0.0, 'distance': 156.12530001564264, 'return': 3836.0246449933416, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:42,088Z INFO episode phase=validation condition=height_shuffled__+0.1000 seed=110006 metrics={'x_velocity': 11.155144143469562, 'y_velocity': 0.0, 'planar_speed': 11.155144143469562, 'height': 0.6833528106221809, 'yaw_rate': 0.0, 'effort': 0.7024714380171564, 'inversion': 0.0, 'bad_contact': 0.0011111111111111111, 'reward': 10.733661280798344, 'saturation': 0.19425925925925924, 'length': 1000.0, 'failure': 0.0, 'distance': 501.9814864561303, 'return': 10419.233974950683, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:42,762Z INFO episode phase=validation condition=height_shuffled__+0.1000 seed=110008 metrics={'x_velocity': 3.0780731211730985, 'y_velocity': 0.0, 'planar_speed': 3.1695816865356905, 'height': 0.3315343777212227, 'yaw_rate': 0.0, 'effort': 0.37094679296430616, 'inversion': 0.76, 'bad_contact': 0.3611111111111111, 'reward': 2.855505045419351, 'saturation': 0.05685185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 138.51329045278945, 'return': 3360.9123684456545, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:42,797Z INFO episode phase=validation condition=height_shuffled__+0.1000 seed=110009 metrics={'x_velocity': 9.13046580714986, 'y_velocity': 0.0, 'planar_speed': 9.134904492278185, 'height': 0.6480791027124603, 'yaw_rate': 0.0, 'effort': 0.5422607353515922, 'inversion': 0.04666666666666667, 'bad_contact': 0.18444444444444444, 'reward': 8.805109366159526, 'saturation': 0.1285185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 410.8709613217438, 'return': 8706.346075279478, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:42,810Z INFO validation {'vector': 'height_shuffled', 'behavior': 'height', 'alpha': 0.1, 'effect': {'behavior': 'height', 'effect': 0.0006720436529358998, 'ci95': [-0.09524554578182075, 0.07593092893601872], 'relative_effect': 0.0011337880149118783, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5934139355207321, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 8.376824352028162, 'effort': 0.5429543154483868, 'height': 0.5934139355207321, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.15377777777777776, 'bad_contact': 0.20522222222222225, 'planar_speed': 8.388416702943237, 'saturation': 0.1397962962962963, 'reward': 8.051051762680899, 'failure': 0.4, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': False, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.15377777777777776, 'bad_contact': 0.20522222222222225, 'failure': 0.4}, 'direction': 1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:43,546Z INFO episode phase=validation condition=height_shuffled__+0.2000 seed=110003 metrics={'x_velocity': 2.4654604080688607, 'y_velocity': 0.0, 'planar_speed': 2.4798681217906293, 'height': 0.6111999746891567, 'yaw_rate': 0.0, 'effort': 0.2628594736175405, 'inversion': 0.013333333333333334, 'bad_contact': 0.6322222222222222, 'reward': 2.307744723865222, 'saturation': 0.09999999999999998, 'length': 1000.0, 'failure': 0.0, 'distance': 110.94571836309875, 'return': 2911.7421805537106, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:43,565Z INFO episode phase=validation condition=height_shuffled__+0.2000 seed=110001 metrics={'x_velocity': 1.142331619916637, 'y_velocity': 0.0, 'planar_speed': 1.1568004478543397, 'height': 0.5871096755896671, 'yaw_rate': 0.0, 'effort': 0.12167618728346295, 'inversion': 0.022222222222222223, 'bad_contact': 0.8222222222222222, 'reward': 1.0693259073992032, 'saturation': 0.03722222222222222, 'length': 1000.0, 'failure': 0.0, 'distance': 51.404922896248664, 'return': 1645.256065790129, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:43,577Z INFO episode phase=validation condition=height_shuffled__+0.2000 seed=110002 metrics={'x_velocity': 3.7434828215391724, 'y_velocity': 0.0, 'planar_speed': 3.823446879725029, 'height': 0.41866385130055445, 'yaw_rate': 0.0, 'effort': 0.46009465438417263, 'inversion': 0.6, 'bad_contact': 0.2788888888888889, 'reward': 3.467426028856101, 'saturation': 0.1261111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 168.45672696926277, 'return': 3884.9016775942905, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:43,592Z INFO episode phase=validation condition=height_shuffled__+0.2000 seed=110000 metrics={'x_velocity': 1.3748213646254024, 'y_velocity': 0.0, 'planar_speed': 1.3907411793344127, 'height': 0.5821561682761949, 'yaw_rate': 0.0, 'effort': 0.1359634030279186, 'inversion': 0.011111111111111112, 'bad_contact': 0.8355555555555556, 'reward': 1.293243322757325, 'saturation': 0.0412962962962963, 'length': 1000.0, 'failure': 0.0, 'distance': 61.86696140814311, 'return': 1898.5360328204758, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:44,289Z INFO episode phase=validation condition=height_shuffled__+0.2000 seed=110004 metrics={'x_velocity': 3.694634427750411, 'y_velocity': 0.0, 'planar_speed': 3.7928516973550224, 'height': 0.4119128912166684, 'yaw_rate': 0.0, 'effort': 0.42982422778382895, 'inversion': 0.61, 'bad_contact': 0.2733333333333333, 'reward': 3.4367398907825044, 'saturation': 0.10518518518518517, 'length': 1000.0, 'failure': 0.0, 'distance': 166.2585492487685, 'return': 3878.233832140266, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:44,306Z INFO episode phase=validation condition=height_shuffled__+0.2000 seed=110005 metrics={'x_velocity': 3.396724845053951, 'y_velocity': 0.0, 'planar_speed': 3.410727174317173, 'height': 0.6343692379679563, 'yaw_rate': 0.0, 'effort': 0.3622371011455026, 'inversion': 0.01, 'bad_contact': 0.5055555555555555, 'reward': 3.1793825842097734, 'saturation': 0.14648148148148146, 'length': 1000.0, 'failure': 0.0, 'distance': 152.8526180274278, 'return': 3603.2621870905014, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:44,322Z INFO episode phase=validation condition=height_shuffled__+0.2000 seed=110006 metrics={'x_velocity': 1.0182792559900724, 'y_velocity': 0.0, 'planar_speed': 1.0332246499681619, 'height': 0.5719402361108118, 'yaw_rate': 0.0, 'effort': 0.10319381844252348, 'inversion': 0.011111111111111112, 'bad_contact': 0.8677777777777778, 'reward': 0.9563629648368069, 'saturation': 0.036481481481481476, 'length': 1000.0, 'failure': 0.0, 'distance': 45.822566519553256, 'return': 1619.6654905852988, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:44,338Z INFO episode phase=validation condition=height_shuffled__+0.2000 seed=110007 metrics={'x_velocity': 0.6857632602141268, 'y_velocity': 0.0, 'planar_speed': 0.7004560518356996, 'height': 0.5728022550138693, 'yaw_rate': 0.0, 'effort': 0.07575680758390162, 'inversion': 0.028888888888888888, 'bad_contact': 0.9088888888888889, 'reward': 0.640309175595903, 'saturation': 0.017037037037037035, 'length': 1000.0, 'failure': 0.0, 'distance': 30.85934670963571, 'return': 1423.0412514529085, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:45,006Z INFO episode phase=validation condition=height_shuffled__+0.2000 seed=110008 metrics={'x_velocity': 3.2617881735527208, 'y_velocity': 0.0, 'planar_speed': 3.3652033425066827, 'height': 0.4001423675811505, 'yaw_rate': 0.0, 'effort': 0.44758250324779913, 'inversion': 0.6333333333333333, 'bad_contact': 0.30444444444444446, 'reward': 2.993238671622874, 'saturation': 0.11925925925925927, 'length': 1000.0, 'failure': 0.0, 'distance': 146.78046780987242, 'return': 3484.872632028826, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:45,020Z INFO episode phase=validation condition=height_shuffled__+0.2000 seed=110009 metrics={'x_velocity': 2.017822279728249, 'y_velocity': 0.0, 'planar_speed': 2.1172946386745877, 'height': 0.30893174199985557, 'yaw_rate': 0.0, 'effort': 0.37900208822865455, 'inversion': 0.81, 'bad_contact': 0.3566666666666667, 'reward': 1.7904210267614609, 'saturation': 0.06833333333333333, 'length': 1000.0, 'failure': 0.0, 'distance': 90.8020025877712, 'return': 2393.1265698212187, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:45,035Z INFO validation {'vector': 'height_shuffled', 'behavior': 'height', 'alpha': 0.2, 'effect': {'behavior': 'height', 'effect': -0.08281905189320773, 'ci95': [-0.1524165499267052, -0.019884934046832538], 'relative_effect': -0.1397219481691021, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.5099228399745884, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 2.2801108456439603, 'effort': 0.2778190264745305, 'height': 0.5099228399745884, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.275, 'bad_contact': 0.5785555555555555, 'planar_speed': 2.3270614183361737, 'saturation': 0.07974074074074075, 'reward': 2.113419429668717, 'failure': 1.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': True, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.275, 'bad_contact': 0.5785555555555555, 'failure': 1.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:45,792Z INFO episode phase=validation condition=height_shuffled__+0.5000 seed=110003 metrics={'x_velocity': 0.6362520516403487, 'y_velocity': 0.0, 'planar_speed': 0.6504619272120665, 'height': 0.5610871043236226, 'yaw_rate': 0.0, 'effort': 0.10889950390077299, 'inversion': 0.01, 'bad_contact': 0.92, 'reward': 0.5709123492858112, 'saturation': 0.01888888888888889, 'length': 1000.0, 'failure': 0.0, 'distance': 28.631342323815694, 'return': 1348.5930434322406, 'seed': 110003, 'onset_hash': 'adeedf7cb931b247725f96377b8ecf546c6423b8087d631c0e229c1aade375b3'}
+2026-09-07 23:22:45,808Z INFO episode phase=validation condition=height_shuffled__+0.5000 seed=110000 metrics={'x_velocity': 1.6757461104845177, 'y_velocity': 0.0, 'planar_speed': 1.79885168803974, 'height': 0.37082337550930045, 'yaw_rate': 0.0, 'effort': 0.5130859691453062, 'inversion': 0.7, 'bad_contact': 0.2922222222222222, 'reward': 1.3678945292587257, 'saturation': 0.1675925925925926, 'length': 1000.0, 'failure': 0.0, 'distance': 75.4085749718033, 'return': 1965.7221186717363, 'seed': 110000, 'onset_hash': '17edd58067865e7208e3eea31532ee6c2bfb611295ef835e756b7b0e71050b52'}
+2026-09-07 23:22:45,826Z INFO episode phase=validation condition=height_shuffled__+0.5000 seed=110002 metrics={'x_velocity': 0.6339502879956616, 'y_velocity': 0.0, 'planar_speed': 0.64566129687893, 'height': 0.561926545139106, 'yaw_rate': 0.0, 'effort': 0.10897146563563082, 'inversion': 0.017777777777777778, 'bad_contact': 0.9155555555555556, 'reward': 0.5685674087020345, 'saturation': 0.019074074074074073, 'length': 1000.0, 'failure': 0.0, 'distance': 28.527762959804775, 'return': 1275.9289194556302, 'seed': 110002, 'onset_hash': '9684d57c0622598fc91ff102eeae7c7d7cf708e31c0df8f8ccc91b28292b8cca'}
+2026-09-07 23:22:45,840Z INFO episode phase=validation condition=height_shuffled__+0.5000 seed=110001 metrics={'x_velocity': 1.3841023661784029, 'y_velocity': 0.0, 'planar_speed': 1.65508348145054, 'height': 0.7682562914029399, 'yaw_rate': 0.0, 'effort': 0.8028722203109, 'inversion': 0.2877777777777778, 'bad_contact': 0.24, 'reward': 0.9023790345614181, 'saturation': 0.5235185185185185, 'length': 1000.0, 'failure': 0.0, 'distance': 62.28460647802813, 'return': 1495.0038802361225, 'seed': 110001, 'onset_hash': '227ac5846296715ac4d16dc874f71595575df9122a7083c00a9425b15e832d8f'}
+2026-09-07 23:22:46,539Z INFO episode phase=validation condition=height_shuffled__+0.5000 seed=110006 metrics={'x_velocity': 1.2710458990767455, 'y_velocity': 0.0, 'planar_speed': 1.559830437481948, 'height': 0.7629502039964491, 'yaw_rate': 0.0, 'effort': 0.7976348798390892, 'inversion': 0.2877777777777778, 'bad_contact': 0.27444444444444444, 'reward': 0.7924649711484567, 'saturation': 0.519074074074074, 'length': 1000.0, 'failure': 0.0, 'distance': 57.19706545845355, 'return': 1472.1572962657838, 'seed': 110006, 'onset_hash': '60e940be2309ee371f6e8a678020aab392a91f3005f1fecc1cc813883c20dc5d'}
+2026-09-07 23:22:46,554Z INFO episode phase=validation condition=height_shuffled__+0.5000 seed=110004 metrics={'x_velocity': 1.3982243141903685, 'y_velocity': 0.0, 'planar_speed': 1.5527403723190774, 'height': 0.2856054576140002, 'yaw_rate': 0.0, 'effort': 0.46303210140930284, 'inversion': 0.8755555555555555, 'bad_contact': 0.29444444444444445, 'reward': 1.1204050534772414, 'saturation': 0.095, 'length': 1000.0, 'failure': 0.0, 'distance': 62.92009413856658, 'return': 1793.5324785655293, 'seed': 110004, 'onset_hash': '0694a55c59b54bdf4d0a1dfad606663b8ec4d1da6c628c2b996a6d2d030d35d1'}
+2026-09-07 23:22:46,566Z INFO episode phase=validation condition=height_shuffled__+0.5000 seed=110005 metrics={'x_velocity': 1.7072244557349872, 'y_velocity': 0.0, 'planar_speed': 1.8612675149761213, 'height': 0.4815291330310053, 'yaw_rate': 0.0, 'effort': 0.6156858755441176, 'inversion': 0.6122222222222222, 'bad_contact': 0.27444444444444444, 'reward': 1.3378129303017254, 'saturation': 0.28462962962962957, 'length': 1000.0, 'failure': 0.0, 'distance': 76.82510050807443, 'return': 1945.8494985732577, 'seed': 110005, 'onset_hash': 'cbf6256c9b59bd6a5af86623786fa120be9daf45aaa4d3ecd0a0f85296260562'}
+2026-09-07 23:22:46,581Z INFO episode phase=validation condition=height_shuffled__+0.5000 seed=110007 metrics={'x_velocity': 0.8121446244014308, 'y_velocity': 0.0, 'planar_speed': 0.8430870903334603, 'height': 0.5801765374063341, 'yaw_rate': 0.0, 'effort': 0.20343663027717007, 'inversion': 0.013333333333333334, 'bad_contact': 0.7855555555555556, 'reward': 0.6900826462268503, 'saturation': 0.09296296296296297, 'length': 1000.0, 'failure': 0.0, 'distance': 36.546508098064386, 'return': 1467.8373750207613, 'seed': 110007, 'onset_hash': 'a8465ccc9d6f12b3e8d3c3400d438c7a7a31cc8156f88d16e1ca865cd2a57078'}
+2026-09-07 23:22:47,255Z INFO episode phase=validation condition=height_shuffled__+0.5000 seed=110008 metrics={'x_velocity': 0.6580084441121893, 'y_velocity': 0.0, 'planar_speed': 0.6580381714897156, 'height': 0.16983101924935318, 'yaw_rate': 0.0, 'effort': 0.12194734026988348, 'inversion': 0.9622222222222222, 'bad_contact': 0.9222222222222223, 'reward': 0.5848400395959428, 'saturation': 0.01648148148148148, 'length': 1000.0, 'failure': 0.0, 'distance': 29.61037998504852, 'return': 1317.3138632045875, 'seed': 110008, 'onset_hash': '4dedbb16a2d4ac7d0c9dedb88fae23af2998d4c7de298d86df62f8d0e360a799'}
+2026-09-07 23:22:47,268Z INFO episode phase=validation condition=height_shuffled__+0.5000 seed=110009 metrics={'x_velocity': 1.4572505471569428, 'y_velocity': 0.0, 'planar_speed': 1.6057450849784745, 'height': 0.27286685896655627, 'yaw_rate': 0.0, 'effort': 0.4291650258253018, 'inversion': 0.9055555555555556, 'bad_contact': 0.3088888888888889, 'reward': 1.1997515314746696, 'saturation': 0.05611111111111111, 'length': 1000.0, 'failure': 0.0, 'distance': 65.57627462206243, 'return': 1861.5240240631067, 'seed': 110009, 'onset_hash': 'd110458e0bd49437c1937d6d7df5a08f0df43c8c9698eec751965f4eae478011'}
+2026-09-07 23:22:47,286Z INFO validation {'vector': 'height_shuffled', 'behavior': 'height', 'alpha': 0.5, 'effect': {'behavior': 'height', 'effect': -0.1112366392039295, 'ci95': [-0.2292456565069173, 0.006128098655584026], 'relative_effect': -0.18766454797620324, 'baseline_mean': 0.5927418918677961, 'treated_mean': 0.48150525266386673, 'baseline_means': {'speed': 16.795478145614943, 'effort': 0.6911036870976289, 'height': 0.5927418918677961, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.0, 'bad_contact': 0.0, 'planar_speed': 16.795478145614943, 'saturation': 0.00922222222222222, 'reward': 16.380815933213974, 'failure': 0.0, 'prefix_only': 0.0}, 'treated_means': {'speed': 1.1633949100971592, 'effort': 0.4164731012157475, 'height': 0.48150525266386673, 'lateral': 0.0, 'turning': 0.0, 'inversion': 0.46722222222222215, 'bad_contact': 0.5227777777777778, 'planar_speed': 1.2830767065160074, 'saturation': 0.1793333333333333, 'reward': 0.9135110494032876, 'failure': 1.0, 'prefix_only': 0.0}, 'n_pairs': 10, 'seeds': [110000, 110001, 110002, 110003, 110004, 110005, 110006, 110007, 110008, 110009], 'gate': False, 'effect_size_pass': True, 'ci_excludes_zero': False, 'locomotion_pass': False, 'quality_pass': False, 'quality_deltas': {'inversion': 0.46722222222222215, 'bad_contact': 0.5227777777777778, 'failure': 1.0}, 'direction': -1, 'bootstrap': {'method': 'paired episode percentile', 'resamples': 2000, 'seed': 710}}, 'analysis_sha256': 'af46df82a2b7ef2d4bda994940271b0723ab7940a2612f766b1b609d97fedc51'}
+2026-09-07 23:22:48,093Z INFO run completed status=no_validation_candidate
diff --git a/experiments/hc-running-002/20260907T233221124750Z.log b/experiments/hc-running-002/20260907T233221124750Z.log
new file mode 100644
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@@ -0,0 +1,3 @@
+2026-09-07 23:32:21,124Z INFO command={'command': 'report', 'run_dir': WindowsPath('runs/hc-running-002')}
+2026-09-07 23:32:22,491Z INFO Wrote experiment reports: C:\Users\Happy\Documents\projects\rl-locomotion-steering-vectors\runs\hc-running-002\report.md and C:\Users\Happy\Documents\projects\rl-locomotion-steering-vectors\runs\hc-running-002\report.pdf
+2026-09-07 23:32:22,492Z INFO report=C:\Users\Happy\Documents\projects\rl-locomotion-steering-vectors\runs\hc-running-002\report.pdf
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