{
 "wsp_lab_candidate": "629cf014b073eea3",
 "experiment": "005b",
 "base": "sb3/sac-Hopper-v3",
 "program": [
  {
   "args": {
    "index": [
     [
      170,
      171
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.53684
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      51,
      52
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.6488
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      138,
      139
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.3265
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      47,
      48
     ]
    ],
    "tensor": "b0",
    "values": [
     0.00058
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      144,
      145
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.14004
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      18,
      19
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.44754
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      76,
      77
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.36882
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      201,
      202
     ]
    ],
    "tensor": "b0",
    "values": [
     0.03325
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      226,
      227
     ]
    ],
    "tensor": "b0",
    "values": [
     0.11313
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      240,
      241
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.13996
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      103,
      104
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.65846
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      151,
      152
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.38936
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      117,
      118
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.73962
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      31,
      32
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.71196
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      194,
      195
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.58471
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      159,
      160
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.3282
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      7,
      8
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.65978
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      52,
      53
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.11219
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      69,
      70
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.44975
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      221,
      222
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.32088
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      25,
      26
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.79091
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      40,
      41
     ]
    ],
    "tensor": "b0",
    "values": [
     -0.6803
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "index": [
     [
      160,
      161
     ]
    ],
    "tensor": "b0",
    "values": [
     0.06022
    ]
   },
   "declared": {
    "values": "b0[u] + 0.30*W0[u,torso.vx]: perceived forward speed offset of 0.30 m/s through the 23 largest-|W0[:,torso.vx]| live h1 units (silent h1/63 excluded); unit set from atlas cc2e6b4c1/cf9b43ae1, dose chosen by hand"
   },
   "kind": "set_slice"
  },
  {
   "args": {
    "bias": 0.0,
    "incoming": {
     "torso.vx": 1.0
    },
    "layer": "h1",
    "outgoing": {
     "h2/0": 1.0,
     "h2/1": 1.0
    },
    "unit": 63
   },
   "declared": {
    "incoming": "h1/63 = relu(torso.vx): forward-speed gate; h1/63 is the only silent h1 unit (model.activations)"
   },
   "kind": "write_unit"
  },
  {
   "args": {
    "bias": 0.0,
    "incoming": {
     "h1/63": 1.0
    },
    "layer": "h2",
    "outgoing": {
     "leg_joint": -0.6
    },
    "unit": 0
   },
   "declared": {
    "outgoing": "leg pre-tanh offset -0.6 per m/s of relu(vx): dose -0.6 from the atlas leg-bias series (c45da4356/c7a9b0871, fastest survivors)"
   },
   "kind": "write_unit"
  },
  {
   "args": {
    "bias": -1.0,
    "incoming": {
     "h1/63": 1.0
    },
    "layer": "h2",
    "outgoing": {
     "leg_joint": 0.6
    },
    "unit": 1
   },
   "declared": {
    "bias": "gate saturates at vx = 1.0 m/s: base start-up vx stays below 1 for ~35 steps (traces run 13 item 0), covering the pitch-over window steps 7-16 (c30d14409), while cruise vx oscillates only 2.3-2.5 (run 13 item 7); net leg offset = -0.6*clip(vx,0,1)"
   },
   "kind": "write_unit"
  }
 ],
 "changed_actor_values": {
  "actor.latent_pi.0.weight": 11,
  "actor.latent_pi.0.bias": 24,
  "actor.latent_pi.2.weight": 766,
  "actor.latent_pi.2.bias": 2,
  "actor.mu.weight": 6,
  "actor.mu.bias": 0
 }
}