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      "episodes": 256,
      "success_rate": 1.0
    }
  },
  "failed_experiments": {
    "minicpm_go_to_point_absolute_1step": {
      "successes": 0,
      "episodes": 5,
      "reason": "closed-loop root drift"
    },
    "minicpm_go_to_point_root_velocity": {
      "successes": 0,
      "episodes": 5,
      "reason": "closed-loop saturation"
    },
    "minicpm_go_to_point_recovery_root_velocity": {
      "successes": 0,
      "episodes": 5,
      "reason": "closed-loop saturation after recovery-data training"
    }
  }
}