{
  "model_type": "tiny-lunar-policy",
  "n_params": 14,
  "obs_dim": 8,
  "n_actions": 4,
  "weights_param": "sym_theta",
  "weights_shape": [14],
  "symmetry": "mirror (x, vx, angle, angular_velocity flip; legs swap; action left<->right)",
  "env_id": "LunarLander-v3",
  "torch_dtype": "float32",
  "observation_names": [
    "x", "y", "vx", "vy", "angle", "angular_velocity",
    "leg_left_contact", "leg_right_contact"
  ],
  "action_meanings": [
    "do nothing",
    "fire left orientation engine",
    "fire main engine",
    "fire right orientation engine"
  ],
  "metrics": {
    "protocol": "greedy, 60 seeds x 100 episodes",
    "mean_return_canonical": 264.058,
    "mean_return_fresh_seeds": 263.831,
    "seeds_with_mean_ge_200": "60/60",
    "landing_rate": 0.9955,
    "crash_rate": 0.0035
  }
}