{
  "step": 50000,
  "metrics": {
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    "validation/normal_right_mae_rad": 0.03680320013576569,
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    "validation/zero_right_arm_mae_rad": 0.06238429994327383,
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    "validation/zero_right_hand_mae_rad": 0.035592981546743285,
    "validation/zero_right_mae_rad": 0.04253887890880676,
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    "validation/shuffled_right_arm_mae_rad": 0.059036315789845875,
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    "validation/shuffled_right_hand_mae_rad": 0.028679748117996083,
    "validation/shuffled_right_mae_rad": 0.03654996936625344,
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    "validation/shuffled_right_mae_increase_fraction": -0.006880672565920731
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      "right_arm": 0.059371971659443516,
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      "right_hand": 0.028904130102478453
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      "right_arm": 0.06238429994327383,
      "left_hand": 0.0010982618184590752,
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    {
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    {
      "episode": 2,
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    {
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    {
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  "scope": "25 anchors from 5 unseen whole recordings from the same session; 40-step absolute joint prediction; identical noise seeds in all three conditions; normalized-zero occlusion; shuffled pressures only; not robot task success"
}