eval_results.json

{
  "checkpoint": "/home/lambda/claude/idm_output_omx_v3/checkpoint-50000",
  "dataset": "/home/lambda/claude/datasets/omx/omx_merged",
  "data_config": "omx",
  "embodiment_tag": "omx",
  "test_ratio": 0.2,
  "n_test_samples": 67773,
  "n_test_episodes": 111,
  "overall_mae_normalized": 0.3550939258925636,
  "overall_mae_raw": 0.964832619491912,
  "overall_mae_degrees": 55.280837033438246,
  "per_joint_mae_degrees": {
    "shoulder_pan": 71.7621660973685,
    "shoulder_lift": 72.74107266210534,
    "elbow_flex": 30.115724676448167,
    "wrist_flex": 96.4308040011558,
    "wrist_roll": 56.42544682326808,
    "gripper": 4.209807940283581
  }
}