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domain_meta.json
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| 1 |
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{
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| 2 |
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"generated_at": "2026-10-23T17:48:12Z",
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| 3 |
+
"num_frames_per_domain": 5000,
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| 4 |
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"fps": 30,
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| 5 |
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"window_size": 32,
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| 6 |
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"stride": 4,
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| 7 |
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"num_features": 14,
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| 8 |
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"key_names": [
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| 9 |
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"W",
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| 10 |
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"A",
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| 11 |
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"S",
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| 12 |
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"D",
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| 13 |
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"Space"
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| 14 |
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],
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| 15 |
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"train_domain_ids": [
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| 16 |
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0,
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| 17 |
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1,
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| 18 |
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2,
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| 19 |
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3
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| 20 |
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],
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| 21 |
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"test_domain_ids": [
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| 22 |
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4,
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| 23 |
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5
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| 24 |
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],
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| 25 |
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"train_total_samples": 4972,
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| 26 |
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"test_total_samples": 2486,
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| 27 |
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"domains": [
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| 28 |
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{
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| 29 |
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"id": 0,
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| 30 |
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"name": "baseline",
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| 31 |
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"description": "Default humanoid \u2014 standard proportions, moderate cadence",
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| 32 |
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"split": "train",
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| 33 |
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"num_samples": 1243,
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| 34 |
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"params": {
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| 35 |
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"leg_length": 0.85,
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| 36 |
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"stride_freq_hz": 1.8,
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| 37 |
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"noise_std": 0.002,
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| 38 |
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"amplitude_scale": 1.0,
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| 39 |
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"jump_impulse": 6.2
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| 40 |
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},
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| 41 |
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"label_counts": {
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| 42 |
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"W": 699,
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| 43 |
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"A": 286,
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| 44 |
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"S": 110,
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| 45 |
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"D": 197,
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| 46 |
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"Space": 2
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| 47 |
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}
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| 48 |
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},
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| 49 |
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{
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| 50 |
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"id": 1,
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| 51 |
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"name": "tall_slow",
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| 52 |
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"description": "Taller rig, slower stride cadence, slightly larger amplitudes",
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| 53 |
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"split": "train",
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| 54 |
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"num_samples": 1243,
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| 55 |
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"params": {
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| 56 |
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"leg_length": 1.05,
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| 57 |
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"stride_freq_hz": 1.6,
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| 58 |
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"noise_std": 0.003,
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| 59 |
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"amplitude_scale": 1.15,
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| 60 |
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"jump_impulse": 7.0
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| 61 |
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},
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| 62 |
+
"label_counts": {
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| 63 |
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"W": 627,
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| 64 |
+
"A": 292,
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| 65 |
+
"S": 158,
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| 66 |
+
"D": 254,
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| 67 |
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"Space": 2
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| 68 |
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}
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| 69 |
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},
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| 70 |
+
{
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| 71 |
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"id": 2,
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| 72 |
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"name": "short_fast",
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| 73 |
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"description": "Shorter rig, faster cadence, reduced amplitudes",
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| 74 |
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"split": "train",
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| 75 |
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"num_samples": 1243,
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| 76 |
+
"params": {
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| 77 |
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"leg_length": 0.65,
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| 78 |
+
"stride_freq_hz": 2.1,
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| 79 |
+
"noise_std": 0.002,
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| 80 |
+
"amplitude_scale": 0.85,
|
| 81 |
+
"jump_impulse": 5.5
|
| 82 |
+
},
|
| 83 |
+
"label_counts": {
|
| 84 |
+
"W": 674,
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| 85 |
+
"A": 230,
|
| 86 |
+
"S": 151,
|
| 87 |
+
"D": 234,
|
| 88 |
+
"Space": 2
|
| 89 |
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}
|
| 90 |
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},
|
| 91 |
+
{
|
| 92 |
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"id": 3,
|
| 93 |
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"name": "noisy_medium",
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| 94 |
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"description": "Medium build with higher sensor noise and slight amplitude boost",
|
| 95 |
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"split": "train",
|
| 96 |
+
"num_samples": 1243,
|
| 97 |
+
"params": {
|
| 98 |
+
"leg_length": 0.9,
|
| 99 |
+
"stride_freq_hz": 1.9,
|
| 100 |
+
"noise_std": 0.006,
|
| 101 |
+
"amplitude_scale": 1.05,
|
| 102 |
+
"jump_impulse": 6.5
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| 103 |
+
},
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| 104 |
+
"label_counts": {
|
| 105 |
+
"W": 840,
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| 106 |
+
"A": 321,
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| 107 |
+
"S": 130,
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| 108 |
+
"D": 88,
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| 109 |
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"Space": 1
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| 110 |
+
}
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| 111 |
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},
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| 112 |
+
{
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| 113 |
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"id": 4,
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| 114 |
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"name": "very_tall_heavy",
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| 115 |
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"description": "Very tall, slow, heavy stride \u2014 out-of-distribution rig",
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| 116 |
+
"split": "test",
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| 117 |
+
"num_samples": 1243,
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| 118 |
+
"params": {
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| 119 |
+
"leg_length": 1.2,
|
| 120 |
+
"stride_freq_hz": 1.4,
|
| 121 |
+
"noise_std": 0.004,
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| 122 |
+
"amplitude_scale": 1.3,
|
| 123 |
+
"jump_impulse": 7.5
|
| 124 |
+
},
|
| 125 |
+
"label_counts": {
|
| 126 |
+
"W": 761,
|
| 127 |
+
"A": 154,
|
| 128 |
+
"S": 173,
|
| 129 |
+
"D": 143,
|
| 130 |
+
"Space": 3
|
| 131 |
+
}
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
+
"id": 5,
|
| 135 |
+
"name": "compact_agile",
|
| 136 |
+
"description": "Compact, agile, very fast cadence \u2014 out-of-distribution rig",
|
| 137 |
+
"split": "test",
|
| 138 |
+
"num_samples": 1243,
|
| 139 |
+
"params": {
|
| 140 |
+
"leg_length": 0.55,
|
| 141 |
+
"stride_freq_hz": 2.4,
|
| 142 |
+
"noise_std": 0.003,
|
| 143 |
+
"amplitude_scale": 0.7,
|
| 144 |
+
"jump_impulse": 5.0
|
| 145 |
+
},
|
| 146 |
+
"label_counts": {
|
| 147 |
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"W": 696,
|
| 148 |
+
"A": 214,
|
| 149 |
+
"S": 249,
|
| 150 |
+
"D": 119,
|
| 151 |
+
"Space": 2
|
| 152 |
+
}
|
| 153 |
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}
|
| 154 |
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]
|
| 155 |
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}
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