{
  "schema_version": 1,
  "name": "microduck-jump-v24",
  "actor": {
    "file": "../checkpoints/microduck-jump-v24-policy.onnx",
    "input": {
      "name": "obs",
      "shape": [1, 61],
      "dtype": "float32"
    },
    "output": {
      "name": "actions",
      "shape": [1, 14],
      "dtype": "float32"
    },
    "control_hz": 50
  },
  "action_filter": {
    "parameter_order": [
      "leg_scale",
      "hip_pitch_scale",
      "knee_scale",
      "ankle_scale",
      "neck_scale",
      "head_pitch_scale",
      "neck_early_bias",
      "head_pitch_early_bias",
      "hip_pitch_late_bias",
      "knee_late_bias",
      "ankle_late_bias"
    ],
    "parameters": [
      1.0401077270507812,
      1.0394084453582764,
      0.7823998332023621,
      1.0274134874343872,
      0.9302096366882324,
      1.1458725929260254,
      -0.14505745470523834,
      -0.5797718167304993,
      -0.05506347492337227,
      0.2685064375400543,
      -0.16422241926193237
    ],
    "early_gate": "clamp(1 - phase / 0.30, 0, 1)",
    "late_gate": "clamp((phase - 0.10) / 0.16, 0, 1)",
    "privileged_state_trigger": false
  },
  "qualification": {
    "simulation_only": true,
    "episodes": 4096,
    "seed": 20260982,
    "strict_success_rate": 0.07568359375,
    "controlled_success_rate": 0.058349609375,
    "hardware_qualified": false
  }
}