{
  "recipe_version": 4,
  "checkpoint": "/home/z/bridge/rl/bridge_amp_v4/logs/2026-10-20_15-49-21_t800_v4_forward_knee_fresh_4096/model_4000.pt",
  "checkpoint_sha256": "162f104ea2059ae9a7eb2abb4f79b10b105b4d1a9c5a6be2aa8f917c89a47c66",
  "num_envs": 16,
  "duration_s": 20.0,
  "start": "neutral standing, no expert initial pose or velocity",
  "automatic_resets": false,
  "official_bridge_artifact": false,
  "physical_robot_validation": false,
  "scope": "Nominal deterministic repeated environments, not independent robustness trials. Style remains subject to actual video review.",
  "tests": {
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      "full_duration_completed": true,
      "completed_envs": 16,
      "failures_at_stop": 0,
      "failed_env_ids": [],
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      "failed_env_ids": [],
      "protocol": "Stop the whole batch at the first failure, no credit for partial survivors.",
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  "untrained_turn_diagnostic": true,
  "contact_foot_order": [
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}