{
  "task": "motherboard",
  "tau_intensity": 30.0,
  "tau_velocity_mps": 5.0,
  "tau_angular_rad_per_s": 15.0,
  "freeze_threshold_s": 0.25,
  "buffer_frames": 3,
  "summary": {
    "n_episodes": 32,
    "total_frames": 194445,
    "total_bad_frames": 1751,
    "bad_fraction_overall": 0.009
  },
  "episodes": {
    "2026-05-10/episode_000": {
      "n_frames": 6890,
      "duration_s": 229.667,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-10/episode_001": {
      "n_frames": 7621,
      "duration_s": 254.033,
      "intensity_spikes": [],
      "pose_teleports_L": [
        [
          7083,
          7090
        ],
        [
          7142,
          7149
        ]
      ],
      "pose_teleports_R": [],
      "ot_loss_L": [
        [
          5503,
          5513
        ],
        [
          7062,
          7153
        ]
      ],
      "ot_loss_R": [],
      "total_bad_frames": 103,
      "bad_fraction": 0.0135
    },
    "2026-05-10/episode_002": {
      "n_frames": 10475,
      "duration_s": 349.167,
      "intensity_spikes": [],
      "pose_teleports_L": [
        [
          10311,
          10318
        ]
      ],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 8,
      "bad_fraction": 0.0008
    },
    "2026-05-10/episode_003": {
      "n_frames": 9262,
      "duration_s": 308.733,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-10/episode_004": {
      "n_frames": 2406,
      "duration_s": 80.2,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-10/episode_005": {
      "n_frames": 763,
      "duration_s": 25.433,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-10/episode_006": {
      "n_frames": 3925,
      "duration_s": 130.833,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-10/episode_007": {
      "n_frames": 1927,
      "duration_s": 64.233,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-10/episode_008": {
      "n_frames": 1305,
      "duration_s": 43.5,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-10/episode_009": {
      "n_frames": 1823,
      "duration_s": 60.767,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-10/episode_010": {
      "n_frames": 1035,
      "duration_s": 34.5,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-10/episode_011": {
      "n_frames": 2201,
      "duration_s": 73.367,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-11/episode_003": {
      "n_frames": 10032,
      "duration_s": 334.4,
      "intensity_spikes": [
        [
          247,
          255
        ],
        [
          8583,
          8592
        ]
      ],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 19,
      "bad_fraction": 0.0019
    },
    "2026-05-11/episode_004": {
      "n_frames": 2638,
      "duration_s": 87.933,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-11/episode_005": {
      "n_frames": 14498,
      "duration_s": 483.267,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [
        [
          12818,
          12834
        ]
      ],
      "ot_loss_R": [
        [
          2594,
          2618
        ]
      ],
      "total_bad_frames": 42,
      "bad_fraction": 0.0029
    },
    "2026-05-11/episode_006": {
      "n_frames": 11990,
      "duration_s": 399.667,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-11/episode_007": {
      "n_frames": 6908,
      "duration_s": 230.267,
      "intensity_spikes": [
        [
          5573,
          5581
        ]
      ],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 9,
      "bad_fraction": 0.0013
    },
    "2026-05-11/episode_008": {
      "n_frames": 13705,
      "duration_s": 456.833,
      "intensity_spikes": [
        [
          2166,
          2175
        ],
        [
          11659,
          11667
        ]
      ],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 19,
      "bad_fraction": 0.0014
    },
    "2026-05-11/episode_009": {
      "n_frames": 4366,
      "duration_s": 145.533,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-11/episode_010": {
      "n_frames": 6828,
      "duration_s": 227.6,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-11/episode_011": {
      "n_frames": 7299,
      "duration_s": 243.3,
      "intensity_spikes": [
        [
          4249,
          4257
        ]
      ],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 9,
      "bad_fraction": 0.0012
    },
    "2026-05-11/episode_012": {
      "n_frames": 14828,
      "duration_s": 494.267,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-11/episode_013": {
      "n_frames": 12724,
      "duration_s": 424.133,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [
        [
          5765,
          5794
        ],
        [
          5869,
          5884
        ],
        [
          5905,
          5985
        ],
        [
          7680,
          7716
        ],
        [
          7765,
          7790
        ],
        [
          7797,
          7815
        ],
        [
          8179,
          8186
        ],
        [
          9633,
          9693
        ],
        [
          9712,
          9848
        ],
        [
          11361,
          11407
        ],
        [
          11454,
          11515
        ],
        [
          11518,
          11539
        ],
        [
          11585,
          11636
        ]
      ],
      "ot_loss_R": [
        [
          6145,
          6164
        ],
        [
          6269,
          6287
        ],
        [
          10170,
          10191
        ],
        [
          11756,
          11782
        ]
      ],
      "total_bad_frames": 686,
      "bad_fraction": 0.0539
    },
    "2026-05-11/episode_014": {
      "n_frames": 2416,
      "duration_s": 80.533,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [
        [
          921,
          979
        ],
        [
          2024,
          2111
        ]
      ],
      "ot_loss_R": [
        [
          1693,
          1719
        ]
      ],
      "total_bad_frames": 174,
      "bad_fraction": 0.072
    },
    "2026-05-11/episode_015": {
      "n_frames": 5959,
      "duration_s": 198.633,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [
        [
          5376,
          5383
        ],
        [
          5392,
          5399
        ]
      ],
      "ot_loss_L": [
        [
          2149,
          2193
        ],
        [
          2201,
          2227
        ],
        [
          2230,
          2321
        ],
        [
          3589,
          3630
        ],
        [
          3632,
          3704
        ],
        [
          4828,
          4898
        ]
      ],
      "ot_loss_R": [
        [
          1490,
          1515
        ],
        [
          2709,
          2726
        ],
        [
          4146,
          4181
        ],
        [
          5372,
          5387
        ]
      ],
      "total_bad_frames": 454,
      "bad_fraction": 0.0762
    },
    "2026-05-11/episode_016": {
      "n_frames": 11896,
      "duration_s": 396.533,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [
        [
          939,
          1017
        ],
        [
          1052,
          1083
        ],
        [
          1144,
          1151
        ],
        [
          1184,
          1191
        ],
        [
          3738,
          3745
        ],
        [
          4921,
          4950
        ],
        [
          5103,
          5142
        ],
        [
          7926,
          7948
        ]
      ],
      "ot_loss_R": [],
      "total_bad_frames": 228,
      "bad_fraction": 0.0192
    },
    "2026-05-11/episode_017": {
      "n_frames": 14511,
      "duration_s": 483.7,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-19/episode_000": {
      "n_frames": 1434,
      "duration_s": 47.8,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-19/episode_001": {
      "n_frames": 740,
      "duration_s": 24.667,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-19/episode_002": {
      "n_frames": 1710,
      "duration_s": 57.0,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-19/episode_003": {
      "n_frames": 121,
      "duration_s": 4.033,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    },
    "2026-05-19/episode_004": {
      "n_frames": 209,
      "duration_s": 6.967,
      "intensity_spikes": [],
      "pose_teleports_L": [],
      "pose_teleports_R": [],
      "ot_loss_L": [],
      "ot_loss_R": [],
      "total_bad_frames": 0,
      "bad_fraction": 0.0
    }
  }
}