{
  "runs": {
    "start": {
      "ground": {
        "count": 0,
        "term_counts": {
          "anchor_pos": 0,
          "anchor_ori_full": 0,
          "tile_boundary": 0
        },
        "median_body_tilt_deg": null,
        "median_yaw_error_deg": null,
        "median_reference_tilt_deg": null,
        "median_episode_age_s": null
      },
      "sand": {
        "count": 20,
        "term_counts": {
          "anchor_pos": 0,
          "anchor_ori_full": 20,
          "tile_boundary": 0
        },
        "median_body_tilt_deg": 45.22978759893853,
        "median_yaw_error_deg": 15.076202276661922,
        "median_reference_tilt_deg": 7.016528469958335,
        "median_episode_age_s": 1.3399999737739563
      },
      "mud": {
        "count": 15,
        "term_counts": {
          "anchor_pos": 0,
          "anchor_ori_full": 14,
          "tile_boundary": 1
        },
        "median_body_tilt_deg": 46.268135154678674,
        "median_yaw_error_deg": 12.341932410385954,
        "median_reference_tilt_deg": 5.415151985791352,
        "median_episode_age_s": 1.5399999618530273
      },
      "sand+mud+rocks": {
        "count": 21,
        "term_counts": {
          "anchor_pos": 0,
          "anchor_ori_full": 21,
          "tile_boundary": 0
        },
        "median_body_tilt_deg": 43.6847868558506,
        "median_yaw_error_deg": 15.82493871253612,
        "median_reference_tilt_deg": 4.233459676826977,
        "median_episode_age_s": 1.2400000095367432
      }
    },
    "scheduled": {
      "ground": {
        "count": 0,
        "term_counts": {
          "anchor_pos": 0,
          "anchor_ori_full": 0,
          "tile_boundary": 0
        },
        "median_body_tilt_deg": null,
        "median_yaw_error_deg": null,
        "median_reference_tilt_deg": null,
        "median_episode_age_s": null
      },
      "sand": {
        "count": 20,
        "term_counts": {
          "anchor_pos": 0,
          "anchor_ori_full": 20,
          "tile_boundary": 0
        },
        "median_body_tilt_deg": 46.57268816712766,
        "median_yaw_error_deg": 7.910690945762918,
        "median_reference_tilt_deg": 6.999575940438363,
        "median_episode_age_s": 1.3199999332427979
      },
      "mud": {
        "count": 13,
        "term_counts": {
          "anchor_pos": 0,
          "anchor_ori_full": 13,
          "tile_boundary": 0
        },
        "median_body_tilt_deg": 45.828158274008544,
        "median_yaw_error_deg": 9.1592836769871,
        "median_reference_tilt_deg": 6.257082510908967,
        "median_episode_age_s": 1.4800000190734863
      },
      "sand+mud+rocks": {
        "count": 20,
        "term_counts": {
          "anchor_pos": 0,
          "anchor_ori_full": 20,
          "tile_boundary": 0
        },
        "median_body_tilt_deg": 46.30598635551159,
        "median_yaw_error_deg": 11.906409666828322,
        "median_reference_tilt_deg": 6.011936989756866,
        "median_episode_age_s": 1.25
      }
    },
    "target": {
      "ground": {
        "count": 0,
        "term_counts": {
          "anchor_pos": 0,
          "anchor_ori_full": 0,
          "tile_boundary": 0
        },
        "median_body_tilt_deg": null,
        "median_yaw_error_deg": null,
        "median_reference_tilt_deg": null,
        "median_episode_age_s": null
      },
      "sand": {
        "count": 21,
        "term_counts": {
          "anchor_pos": 0,
          "anchor_ori_full": 21,
          "tile_boundary": 0
        },
        "median_body_tilt_deg": 42.088021816590434,
        "median_yaw_error_deg": 12.535774032804563,
        "median_reference_tilt_deg": 7.105835114346956,
        "median_episode_age_s": 1.3399999141693115
      },
      "mud": {
        "count": 11,
        "term_counts": {
          "anchor_pos": 0,
          "anchor_ori_full": 11,
          "tile_boundary": 0
        },
        "median_body_tilt_deg": 45.66582858309943,
        "median_yaw_error_deg": 21.641129951199826,
        "median_reference_tilt_deg": 3.4400849665189828,
        "median_episode_age_s": 1.4399999380111694
      },
      "sand+mud+rocks": {
        "count": 22,
        "term_counts": {
          "anchor_pos": 0,
          "anchor_ori_full": 22,
          "tile_boundary": 0
        },
        "median_body_tilt_deg": 42.620112335954644,
        "median_yaw_error_deg": 11.565180246083656,
        "median_reference_tilt_deg": 5.901960698835906,
        "median_episode_age_s": 1.1100000143051147
      }
    }
  },
  "interpretation": "Measured failure-frame diagnostics. Term counts can overlap. Tilt is relative to world vertical; yaw is reference error. This does not establish whether a failed state could recover under different training or termination rules."
}