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eval_results.json

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+{
+  "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
+  }
+}