validation_config.json

{
  "benchmark": "real2sim_transfer_v1",
  "metrics": [
    "geometry_error",
    "pose_error",
    "trajectory_divergence",
    "contact_consistency",
    "sensor_similarity",
    "policy_transfer_success"
  ],
  "report_horizons": [
    1,
    5,
    10,
    25
  ],
  "compare_real_and_sim": true
}