{
  "plan": {
    "depths": [
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      0.14
    ],
    "clips": [
      {
        "key": "indoor_00792",
        "speed_m_s": 0.8215914964675903,
        "quantile": 0.25,
        "path": "WORKSPACE/outputs/terrain-adaptation-20260919/motion-panel/indoor_00792.pkl",
        "sha256": "8a74e4f8b282912f6008e7ff309ba19dcb1453760c876a3639b256f2045510d8"
      },
      {
        "key": "indoor_00509",
        "speed_m_s": 1.0553326606750488,
        "quantile": 0.5,
        "path": "WORKSPACE/outputs/terrain-adaptation-20260919/motion-panel/indoor_00509.pkl",
        "sha256": "a16f356d55d9c8ff1fb0673c80c99c059515da80e2aeb1a523c0dc3530cf5ade"
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      {
        "key": "indoor_00674",
        "speed_m_s": 1.3117538690567017,
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        "path": "WORKSPACE/outputs/terrain-adaptation-20260919/motion-panel/indoor_00674.pkl",
        "sha256": "141316e0d5b6e69acc623ae81dfe8bb738caabdc1883fb2930fcee48eea590c5"
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    ],
    "checkpoint": "WORKSPACE/outputs/terrain-adaptation-20260919/refinement/baseline/training/checkpoint.pt",
    "checkpoint_sha256": "a06454552ec5a8c0c94cab308f4c5e4ba271b328c62f7c64d2c5dc70a26d2d02",
    "seed": 23,
    "voxel_size": 0.02,
    "steps": 500,
    "reference_speed": 1.0,
    "reward_variant": "baseline",
    "residual_bound": 0.25,
    "reused_control": "STUDY/pilot",
    "reuse_note": "The three 14 cm evaluations are symlinks to the same completed control, not additional trials."
  },
  "aggregate": {
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        "planar_velocity_rmse_m_s": 0.6151730925921138,
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        "contact_root_rmse_m": 0.4480358368852911,
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        "joint_torque_peak_max": 139.0
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      "sand+mud+rocks": {
        "failure_count": 21,
        "contact_s": 29.86,
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        "root_rmse_m": 0.3121830117505907,
        "planar_velocity_rmse_m_s": 0.5769483750743266,
        "joint_rmse_rad": 0.3167579063597783,
        "contact_root_rmse_m": 0.3126288736906662,
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        "joint_torque_peak_max": 139.0
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    }
  },
  "soil_task_failures": {
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    "0.14": 56
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  "admission": {
    "0.02": {
      "soil_failures_halved": true,
      "no_ground_failures": true,
      "soil_completions": true,
      "material_contact": true,
      "tracking_retained": true
    }
  },
  "selected_practice_depth": 0.02,
  "completions": {
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        "reference_tail_completions": 2,
        "full_reference_completions": 2,
        "longest_episode_observed_s": 4.980000019073486
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      "sand": {
        "reference_tail_completions": 2,
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      "mud": {
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        "full_reference_completions": 2,
        "longest_episode_observed_s": 4.980000019073486
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      "sand+mud+rocks": {
        "reference_tail_completions": 1,
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    },
    "depth-0.02-indoor_00509": {
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        "full_reference_completions": 1,
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    },
    "depth-0.02-indoor_00674": {
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        "full_reference_completions": 1,
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        "reference_tail_completions": 0,
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    },
    "depth-0.14-indoor_00792": {
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        "full_reference_completions": 2,
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    },
    "depth-0.14-indoor_00509": {
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        "reference_tail_completions": 1,
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        "longest_episode_observed_s": 7.980000019073486
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      "sand": {
        "reference_tail_completions": 0,
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      "mud": {
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    },
    "depth-0.14-indoor_00674": {
      "ground": {
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        "full_reference_completions": 1,
        "longest_episode_observed_s": 5.980000019073486
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      "sand": {
        "reference_tail_completions": 0,
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      "mud": {
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        "full_reference_completions": 0,
        "longest_episode_observed_s": 1.459999918937683
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      "sand+mud+rocks": {
        "reference_tail_completions": 0,
        "full_reference_completions": 0,
        "longest_episode_observed_s": 1.3399999141693115
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    }
  },
  "completions_with_1s_material_contact": {
    "depth-0.02-indoor_00792": {
      "ground": 0,
      "sand": 2,
      "mud": 2,
      "sand+mud+rocks": 1
    },
    "depth-0.02-indoor_00509": {
      "ground": 0,
      "sand": 1,
      "mud": 1,
      "sand+mud+rocks": 0
    },
    "depth-0.02-indoor_00674": {
      "ground": 0,
      "sand": 0,
      "mud": 0,
      "sand+mud+rocks": 0
    },
    "depth-0.14-indoor_00792": {
      "ground": 0,
      "sand": 0,
      "mud": 0,
      "sand+mud+rocks": 0
    },
    "depth-0.14-indoor_00509": {
      "ground": 0,
      "sand": 0,
      "mud": 0,
      "sand+mud+rocks": 0
    },
    "depth-0.14-indoor_00674": {
      "ground": 0,
      "sand": 0,
      "mud": 0,
      "sand+mud+rocks": 0
    }
  },
  "interpretation": "Practice admission only; rigid substrate limits sink. Full clips may include rigid apron traversal."
}