Add adaptive spline representation diagnostic: adaptive_left_representation.json

models/piper-pick-white-block-25hz-qwenpi-v3-adaptive-left-exclude-gripper-native-controls13-gb32-50k-20260905/adaptive_left_representation.json

@@ -0,0 +1,39 @@
+{
+  "episode_index": 48,
+  "frame_index": 317,
+  "control_shape": [
+    13,
+    7
+  ],
+  "interleaved_shape": [
+    13,
+    8
+  ],
+  "interleaved_row_semantics": "[control_dim_0 ... control_dim_6, duration_steps]",
+  "controls_round_trip_exact": true,
+  "durations_round_trip_exact": true,
+  "knots_reconstructed_from_durations_max_error": 0.0,
+  "degree": 3,
+  "left_clamped_zero_multiplicity": 4,
+  "native_executable_steps": 30,
+  "duration_steps": [
+    1,
+    2,
+    5,
+    10,
+    2,
+    2,
+    2,
+    2,
+    2,
+    2,
+    2,
+    2,
+    2
+  ],
+  "basis_partition_of_unity_max_error": 4.440892098500626e-16,
+  "selected_arm_dimension": 1,
+  "sampled_arm_rmse": 0.00028763301700010177,
+  "sampled_gripper_rmse": 0.04652600921621772,
+  "note": "The dashed control polygon is shown only to locate coefficients. The solid trajectory is evaluated from the cubic B-spline basis."
+}