{
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  "convergence_assessment": "Task performance approaching a plateau, still improving; no claim of full convergence from losses or a single checkpoint.",
  "recent_training_window_comparison": {
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  "scope": "16 repeated nominal environments per test, 20 seconds each, no resets. Not robustness trials or real-robot validation.",
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  "status": "rejected_wrong_retarget_knee_branch",
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  "rejection_reason": "The expert and policy use reverse knee flexion. Prior command/stability metrics do not constitute valid gait acceptance.",
  "knee_diagnostic": "/home/z/bridge/rl/bridge_amp_v4/diagnostics/knee_branch/report.json"
}