{ "checkpoint": "/work/checkpoint/happy_shuffle/2026-09-01_17-15-19_happy_shuffle/model_3499.pt", "nominal": { "body_rhythm_score": 0.9075944237923891, "contact_sequence_score": 0.7634325868943158, "done_events_including_final_timeout": 1, "early_terminations": 0, "lateral_step_score": 0.36372106838385, "max_abs_joint_speed_rad_s": 4.664600849151611, "max_heading_drift_rad": 0.43504929542541504, "max_root_travel_m": 0.06216799095273018, "mean_action_delta_l2": 0.06375765394610591, "mean_reward_per_step": 0.2112361386604607, "mean_stance_foot_slip_m_s": 0.010317494019734154, "mode": "nominal", "num_envs": 1, "phrase_repeat_action_rmse": 0.44619613885879517, "seconds_per_env": 16.0, "self_collision_fraction": 0.0, "steps": 800, "upright_fraction_30deg": 1.0, "video": "/work/happy_shuffle_eval/video/rl-video-step-0.mp4" }, "perturbed": { "body_rhythm_score": 0.9072241026707675, "contact_sequence_score": 0.7593868698584422, "done_events_including_final_timeout": 32, "early_terminations": 0, "lateral_step_score": 0.35365987510346947, "max_abs_joint_speed_rad_s": 4.849171161651611, "max_heading_drift_rad": 0.44815191626548767, "max_root_travel_m": 0.0572078675031662, "mean_action_delta_l2": 0.061348224186964416, "mean_reward_per_step": 0.21028957732021808, "mean_stance_foot_slip_m_s": 0.009473552210166807, "mode": "perturbed", "num_envs": 32, "seconds_per_env": 16.0, "self_collision_fraction": 0.0, "steps": 800, "upright_fraction_30deg": 1.0 }, "task": "Mjlab-HappyShuffle-Flat-MicroDuck" }