{
  "episodes": [
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      "policy": "start",
      "clip": "indoor_00792",
      "terrain": "ground",
      "start_step": 0,
      "end_step": 248,
      "observed_duration_s": 4.98,
      "material_contact_s": 0.0,
      "contact_qualified": false,
      "root_rmse_m": 0.05803594444715148,
      "end_root_error_m": 0.08600059151649475,
      "planar_velocity_rmse_m_s": 0.1415802905014229
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    {
      "policy": "start",
      "clip": "indoor_00792",
      "terrain": "ground",
      "start_step": 249,
      "end_step": 496,
      "observed_duration_s": 4.96,
      "material_contact_s": 0.0,
      "contact_qualified": false,
      "root_rmse_m": 0.03284656868052778,
      "end_root_error_m": 0.02312823012471199,
      "planar_velocity_rmse_m_s": 0.12372757810081852
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    {
      "policy": "start",
      "clip": "indoor_00509",
      "terrain": "ground",
      "start_step": 0,
      "end_step": 398,
      "observed_duration_s": 7.98,
      "material_contact_s": 0.0,
      "contact_qualified": false,
      "root_rmse_m": 0.23894163632357185,
      "end_root_error_m": 0.45980146527290344,
      "planar_velocity_rmse_m_s": 0.18942039036358121
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    {
      "policy": "start",
      "clip": "indoor_00674",
      "terrain": "ground",
      "start_step": 0,
      "end_step": 298,
      "observed_duration_s": 5.98,
      "material_contact_s": 0.0,
      "contact_qualified": false,
      "root_rmse_m": 0.1845715489565253,
      "end_root_error_m": 0.20934076607227325,
      "planar_velocity_rmse_m_s": 0.21989525287582562
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    {
      "policy": "scheduled",
      "clip": "indoor_00792",
      "terrain": "ground",
      "start_step": 0,
      "end_step": 248,
      "observed_duration_s": 4.98,
      "material_contact_s": 0.0,
      "contact_qualified": false,
      "root_rmse_m": 0.07242510423469475,
      "end_root_error_m": 0.17661049962043762,
      "planar_velocity_rmse_m_s": 0.13240500935043736
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    {
      "policy": "scheduled",
      "clip": "indoor_00792",
      "terrain": "ground",
      "start_step": 249,
      "end_step": 496,
      "observed_duration_s": 4.96,
      "material_contact_s": 0.0,
      "contact_qualified": false,
      "root_rmse_m": 0.08274196825943911,
      "end_root_error_m": 0.08097972720861435,
      "planar_velocity_rmse_m_s": 0.14525602402582846
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    {
      "policy": "scheduled",
      "clip": "indoor_00792",
      "terrain": "mud",
      "start_step": 0,
      "end_step": 248,
      "observed_duration_s": 4.98,
      "material_contact_s": 4.954999999999983,
      "contact_qualified": true,
      "root_rmse_m": 0.9795566587632858,
      "end_root_error_m": 1.445619821548462,
      "planar_velocity_rmse_m_s": 0.5582093724621062
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    {
      "policy": "scheduled",
      "clip": "indoor_00509",
      "terrain": "ground",
      "start_step": 0,
      "end_step": 398,
      "observed_duration_s": 7.98,
      "material_contact_s": 0.0,
      "contact_qualified": false,
      "root_rmse_m": 0.22474668029845896,
      "end_root_error_m": 0.4019699692726135,
      "planar_velocity_rmse_m_s": 0.1886109063546034
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    {
      "policy": "scheduled",
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      "terrain": "ground",
      "start_step": 0,
      "end_step": 298,
      "observed_duration_s": 5.98,
      "material_contact_s": 0.0,
      "contact_qualified": false,
      "root_rmse_m": 0.1773669446186371,
      "end_root_error_m": 0.20267367362976074,
      "planar_velocity_rmse_m_s": 0.19353159614567397
    },
    {
      "policy": "target",
      "clip": "indoor_00792",
      "terrain": "ground",
      "start_step": 0,
      "end_step": 248,
      "observed_duration_s": 4.98,
      "material_contact_s": 0.0,
      "contact_qualified": false,
      "root_rmse_m": 0.08221433940079122,
      "end_root_error_m": 0.08932533860206604,
      "planar_velocity_rmse_m_s": 0.14628147342779543
    },
    {
      "policy": "target",
      "clip": "indoor_00792",
      "terrain": "ground",
      "start_step": 249,
      "end_step": 496,
      "observed_duration_s": 4.96,
      "material_contact_s": 0.0,
      "contact_qualified": false,
      "root_rmse_m": 0.09454809738884565,
      "end_root_error_m": 0.1286056935787201,
      "planar_velocity_rmse_m_s": 0.1392424502088621
    },
    {
      "policy": "target",
      "clip": "indoor_00509",
      "terrain": "ground",
      "start_step": 0,
      "end_step": 398,
      "observed_duration_s": 7.98,
      "material_contact_s": 0.0,
      "contact_qualified": false,
      "root_rmse_m": 0.21181276651190853,
      "end_root_error_m": 0.4642283022403717,
      "planar_velocity_rmse_m_s": 0.17264865235212354
    },
    {
      "policy": "target",
      "clip": "indoor_00509",
      "terrain": "mud",
      "start_step": 95,
      "end_step": 492,
      "observed_duration_s": 7.96,
      "material_contact_s": 2.090000000000001,
      "contact_qualified": true,
      "root_rmse_m": 0.8942984870166583,
      "end_root_error_m": 0.9873808026313782,
      "planar_velocity_rmse_m_s": 0.399989089547746
    },
    {
      "policy": "target",
      "clip": "indoor_00674",
      "terrain": "ground",
      "start_step": 0,
      "end_step": 298,
      "observed_duration_s": 5.98,
      "material_contact_s": 0.0,
      "contact_qualified": false,
      "root_rmse_m": 0.32629772568885557,
      "end_root_error_m": 0.39274337887763977,
      "planar_velocity_rmse_m_s": 0.2289961768486741
    }
  ],
  "interpretation": "Native reference-end events from reference start zero, without a concurrent task failure. Contact qualification and tracking fidelity are independent; reaching the reference end does not imply accurate tracking."
}