{
  "scope": "Unchanged official ONNX + published observation/action adapter + BAM M6, on an independent primitive X dynamics study. Not the P0 printable model, not a validated commercial robot.",
  "interface_passed": true,
  "observation_size": 61,
  "action_size": 14,
  "control_hz": 50,
  "model_sha256": "5f7d89943d9e37684e3c5346673889f2ef1b46030e02ff4029e13b363d80ba71",
  "weights": {
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    "LICENSE": {
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      "command": [
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      ],
      "seed": 0,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.06,
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      "finite": true,
      "mean_body_velocity": [
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        1e-05,
        -0.00015
      ],
      "tracking_mae": [
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        1e-05,
        0.00015
      ],
      "tracking_gate_passed": true
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    {
      "policy": "alpha_walking",
      "command": [
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      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.05,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
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        0.0,
        -0.00011
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      "tracking_mae": [
        5e-05,
        1e-05,
        0.00011
      ],
      "tracking_gate_passed": true
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    {
      "policy": "alpha_walking",
      "command": [
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        0
      ],
      "seed": 2,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.01,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
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        -0.00012
      ],
      "tracking_mae": [
        5e-05,
        1e-05,
        0.00012
      ],
      "tracking_gate_passed": true
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0
      ],
      "seed": 0,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.11,
      "final_xy_m": [
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        0.0006
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      "finite": true,
      "mean_body_velocity": [
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        -0.0,
        -5e-05
      ],
      "tracking_mae": [
        0.09991,
        1e-05,
        8e-05
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0
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      "seed": 1,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.08,
      "final_xy_m": [
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        0.0009
      ],
      "finite": true,
      "mean_body_velocity": [
        9e-05,
        -1e-05,
        -4e-05
      ],
      "tracking_mae": [
        0.09991,
        1e-05,
        8e-05
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0
      ],
      "seed": 2,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.04,
      "final_xy_m": [
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        0.0008
      ],
      "finite": true,
      "mean_body_velocity": [
        9e-05,
        -1e-05,
        -5e-05
      ],
      "tracking_mae": [
        0.09991,
        1e-05,
        8e-05
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0
      ],
      "seed": 0,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 2.65,
      "final_xy_m": [
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      ],
      "finite": true,
      "mean_body_velocity": [
        0.08203,
        0.00058,
        0.08706
      ],
      "tracking_mae": [
        0.21797,
        0.11588,
        0.6675
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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      "seed": 1,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 2.57,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
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        0.07811
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      "tracking_mae": [
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        0.11565,
        0.67042
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      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0
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      "seed": 2,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 2.63,
      "final_xy_m": [
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        0.2909
      ],
      "finite": true,
      "mean_body_velocity": [
        0.08219,
        0.00073,
        0.08905
      ],
      "tracking_mae": [
        0.21781,
        0.11593,
        0.66676
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0.3
      ],
      "seed": 0,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.21,
      "final_xy_m": [
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        0.0008
      ],
      "finite": true,
      "mean_body_velocity": [
        6e-05,
        -0.0,
        0.00013
      ],
      "tracking_mae": [
        6e-05,
        0.0,
        0.29987
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
        0,
        0,
        0.3
      ],
      "seed": 1,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.29,
      "final_xy_m": [
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      "finite": true,
      "mean_body_velocity": [
        6e-05,
        -1e-05,
        0.00013
      ],
      "tracking_mae": [
        6e-05,
        1e-05,
        0.29987
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_walking",
      "command": [
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        0,
        0.3
      ],
      "seed": 2,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.28,
      "final_xy_m": [
        0.0037,
        0.0011
      ],
      "finite": true,
      "mean_body_velocity": [
        6e-05,
        -1e-05,
        0.00012
      ],
      "tracking_mae": [
        6e-05,
        1e-05,
        0.29988
      ],
      "tracking_gate_passed": false
    },
    {
      "policy": "alpha_stand",
      "command": [
        0,
        0,
        0
      ],
      "seed": 0,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 0.91,
      "final_xy_m": [
        0.0022,
        -0.0003
      ],
      "finite": true,
      "mean_body_velocity": [
        2e-05,
        -0.0,
        0.00017
      ],
      "tracking_mae": [
        2e-05,
        0.0,
        0.00017
      ],
      "tracking_gate_passed": true
    },
    {
      "policy": "alpha_stand",
      "command": [
        0,
        0,
        0
      ],
      "seed": 1,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 0.95,
      "final_xy_m": [
        0.0019,
        -0.0001
      ],
      "finite": true,
      "mean_body_velocity": [
        3e-05,
        -0.0,
        0.00014
      ],
      "tracking_mae": [
        3e-05,
        0.0,
        0.00014
      ],
      "tracking_gate_passed": true
    },
    {
      "policy": "alpha_stand",
      "command": [
        0,
        0,
        0
      ],
      "seed": 2,
      "duration_s": 10.0,
      "first_fall_s": null,
      "max_tilt_degrees": 1.03,
      "final_xy_m": [
        0.0017,
        -0.0002
      ],
      "finite": true,
      "mean_body_velocity": [
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        -0.0,
        0.00014
      ],
      "tracking_mae": [
        3e-05,
        0.0,
        0.00014
      ],
      "tracking_gate_passed": true
    }
  ],
  "all_trials_upright": true,
  "physical_verified": false,
  "complete_compatibility_verified": false,
  "tracking_protocol": "Exclude first 1 s. Body forward/lateral m/s and body yaw rad/s. Provisional engineering gate: forward MAE <= max(0.03, 25% of command), lateral <=0.03, yaw <=0.10, no fall. These thresholds are targets, not an industry standard.",
  "tracking_gate_passed": false,
  "seed_start": 0
}