{
 "acceptance": {
  "passed": true,
  "predicates": [
   {
    "aggregation": "mean over seeds",
    "name": "reaching_success_mean",
    "passed": true,
    "threshold": 0.9,
    "value": 0.9940000000000001
   },
   {
    "aggregation": "min over seeds",
    "name": "reaching_success_each",
    "passed": true,
    "threshold": 0.8,
    "value": 0.985
   },
   {
    "aggregation": "mean over seeds: 1 - model/zero MSE",
    "name": "displacement_prediction_gain",
    "passed": true,
    "threshold": 0.4,
    "value": 0.5641264410613994
   },
   {
    "aggregation": "max over seeds, must be below",
    "name": "born_frozen_fails_reaching",
    "passed": true,
    "threshold": 0.8,
    "value": 0.0
   },
   {
    "aggregation": "mean over seeds; bar = max(0.1, 1.2 x supplied PD 0.094)",
    "name": "copier_rmse",
    "passed": true,
    "threshold": 0.11301125335282824,
    "value": 0.051612059455550766
   },
   {
    "aggregation": "relative improvement over the born-frozen model with the same planner",
    "name": "copier_vs_random_model",
    "passed": true,
    "threshold": 0.3,
    "value": 0.9359875934621315
   },
   {
    "aggregation": "mean over seeds",
    "name": "changed_body_recovery",
    "passed": true,
    "threshold": 0.8,
    "value": 0.992
   },
   {
    "aggregation": "mean over seeds",
    "name": "returned_body_retention",
    "passed": true,
    "threshold": 0.8,
    "value": 0.991
   },
   {
    "aggregation": "mean success difference on the first fifty targets",
    "name": "shuffled_pairing_loss",
    "passed": true,
    "threshold": 0.2,
    "value": 0.2240000000000001
   },
   {
    "aggregation": "mean success difference on the first fifty targets",
    "name": "corrupted_dynamics_loss",
    "passed": true,
    "threshold": 0.2,
    "value": 0.404
   },
   {
    "aggregation": "max over seeds",
    "name": "latency_p95_ms",
    "passed": true,
    "threshold": 20.0,
    "value": 12.874973300949932
   },
   {
    "aggregation": "max over seeds",
    "name": "body_steps_cap",
    "passed": true,
    "threshold": 100000,
    "value": 100000.0
   }
  ],
  "spec_sha256": null
 },
 "artifacts": {
  "checkpoints": [
   {
    "path": "arm_seed10_babbling_00500.npz",
    "sha256": "b378e9ec3389153a2e9a7908b35c381e87d2e3c9d8f4ba223ff67b3f5d37df2f"
   },
   {
    "path": "arm_seed10_babbling_02000.npz",
    "sha256": "ca5193b5d0f853f66a750e84772d8f9a59eeda9bd151f5e9566f789d2f7e6070"
   },
   {
    "path": "arm_seed10_babbling_05000.npz",
    "sha256": "fc3cf9462ae0b7ddf9d91e7bc56662b08a3574f523215be75f2b4f11ffbc817b"
   },
   {
    "path": "arm_seed10_reaching_02500.npz",
    "sha256": "4d5951addbc7eef88128147e8fdfe5a9af91e5aaa19aa66d63d61bf78212285b"
   },
   {
    "path": "arm_seed10_reaching_05000.npz",
    "sha256": "3a52e8316fb9a9fbf5200d6255114aff4c47857db46e96332a372543ff32f965"
   },
   {
    "path": "arm_seed10_reaching.npz",
    "sha256": "383ce6cd2fb192a3158210f29bca94b752fc196951b0452768085510ee4f8967"
   },
   {
    "path": "arm_seed10_final.npz",
    "sha256": "566bd4c1cc3dd8d5df2e1b8594cb2510b46ab6bac9c6e57ea37bb7d680f0fac0"
   },
   {
    "path": "arm_seed11_babbling_00500.npz",
    "sha256": "258853aa68883cce8b071ff9a5ec750ca050b8ff0d5da3b5c662821a81166cb2"
   },
   {
    "path": "arm_seed11_babbling_02000.npz",
    "sha256": "ce5252bd4507299ef0b3e5347f2228e174df611cc523da978aedbb3c6c02e24d"
   },
   {
    "path": "arm_seed11_babbling_05000.npz",
    "sha256": "63141a5c867d7646838380f25c4bf009c70e977e0157f7e60038763bb68feb0b"
   },
   {
    "path": "arm_seed11_reaching_02500.npz",
    "sha256": "8f6fdb0f605f54308e87adf160a788a434bfe2da4aaf691fb97933d9d0eb2da8"
   },
   {
    "path": "arm_seed11_reaching_05000.npz",
    "sha256": "b78b41b65524b63ab951f48e9d8556337b736272500c35125d9dfbad2da62270"
   },
   {
    "path": "arm_seed11_reaching.npz",
    "sha256": "d1667d883151f703aee2538764f13388765a2afab4167da54dc3d789f77be7c5"
   },
   {
    "path": "arm_seed11_final.npz",
    "sha256": "4b8b83f124f5549e6d10e313e09bbe5c9d9f3e719d18578fb25ac5350a55f539"
   },
   {
    "path": "arm_seed12_babbling_00500.npz",
    "sha256": "fc11134d5b357b3974919ffa579db149108c5f5f0ffa1148c818474a86c76f60"
   },
   {
    "path": "arm_seed12_babbling_02000.npz",
    "sha256": "4d1911a94c3b8d9b2b382f77d745a1ef3d5df20ce904a345b190e4898bdc2f7f"
   },
   {
    "path": "arm_seed12_babbling_05000.npz",
    "sha256": "58aab94e2b0dc155bf627ff030e94f48819456ab94adf377d7bbd62ad0997263"
   },
   {
    "path": "arm_seed12_reaching_02500.npz",
    "sha256": "bcfbad745f9be0ba1fa7c56175922be30c11cdc20f5407522c2a61efb9116405"
   },
   {
    "path": "arm_seed12_reaching_05000.npz",
    "sha256": "65747c702c996154a6b707b97ca05357c6bc0652fe1e06a9faf993ed3713ac9a"
   },
   {
    "path": "arm_seed12_reaching.npz",
    "sha256": "398cdc940227cbbd8b48e139b8f0023356299e6ac81db6bd8d8f2ca1760f3c0a"
   },
   {
    "path": "arm_seed12_final.npz",
    "sha256": "3119499c4488984a3e1a60c10843fedfffcbb4e5f892cdffa2208e9a43fe1ec6"
   },
   {
    "path": "arm_seed13_babbling_00500.npz",
    "sha256": "335507dcf460654f23018c1f2b7fa9ae35ffe84b0ec1bbbcebbffe0421b999a3"
   },
   {
    "path": "arm_seed13_babbling_02000.npz",
    "sha256": "0fd9b39ab9fcb3e2b6b05c7a4bd88f3a6bc3c570971ede722360cf5dc7d120df"
   },
   {
    "path": "arm_seed13_babbling_05000.npz",
    "sha256": "3aa6a392c336f000944ec2efcbbb2cf891054e4195aef1f32767d465e61feb49"
   },
   {
    "path": "arm_seed13_reaching_02500.npz",
    "sha256": "ab133d0c7edb57932f258b3e97809f7658bdae947bc7f4118f2f32a6225d1cbf"
   },
   {
    "path": "arm_seed13_reaching_05000.npz",
    "sha256": "99a5eac1376e6f7ba65e6759717b83b06075d1a10ae1291bb3fb2e74fce4f4d7"
   },
   {
    "path": "arm_seed13_reaching.npz",
    "sha256": "00c6a98110c15dc6a2dfff75e4f87ef5db641e810de64f3d25d6ad44ceaa869d"
   },
   {
    "path": "arm_seed13_final.npz",
    "sha256": "f5c8f1fcee5a30d7f4a5cb2233c2cb96d8ce5b39829323f06efa133e5babee09"
   },
   {
    "path": "arm_seed14_babbling_00500.npz",
    "sha256": "4cd8aa49fb2dcc553dc1fa0be72fc321d4914b45ab02ef1ed1af7cc52a34da31"
   },
   {
    "path": "arm_seed14_babbling_02000.npz",
    "sha256": "c01ddb702415cb3fd1cf4d0c113abf57347121982ab78a0b890fc17afca2b3f8"
   },
   {
    "path": "arm_seed14_babbling_05000.npz",
    "sha256": "3bc1ecc44b68b8a5e724b81adb54b1c1de32496aa2edf967b913ef4d945b8dc3"
   },
   {
    "path": "arm_seed14_reaching_02500.npz",
    "sha256": "daa74f91275f8d4d771748f12ea92f6fa06ea28dcbc9ebe8955484dec56a571c"
   },
   {
    "path": "arm_seed14_reaching_05000.npz",
    "sha256": "da01f7071adf98368b0409ed4fef767310d38c4dd50ad93d17a63cebc087fbdb"
   },
   {
    "path": "arm_seed14_reaching.npz",
    "sha256": "06a468b61c4e85f508662c7dbbb43cde5bb849ce747aaa2d9b938c8946e71409"
   },
   {
    "path": "arm_seed14_final.npz",
    "sha256": "8d1866b7038dcf615246083480683786ba8dde95c83de784cff162bc291087c5"
   }
  ],
  "events": [
   {
    "events": 107159,
    "path": "events_seed10.jsonl",
    "sha256": "c0e52f26a0cce24a0d002c37bf621c54c851c32c10a8f53ef89b06976b6eabf8"
   },
   {
    "events": 104617,
    "path": "events_seed11.jsonl",
    "sha256": "eb6bc6e17b5068fc999fb0b2df43678ef22a23f9adb8e7839dde0194fc2cf2da"
   },
   {
    "events": 106668,
    "path": "events_seed12.jsonl",
    "sha256": "87c93c316cbf66878278b9c32200914dee7e707810c6ef1a7ed1631da429dff6"
   },
   {
    "events": 107217,
    "path": "events_seed13.jsonl",
    "sha256": "f8c614db721fc2ca489548277c3f86e19871bb322236499baeb97ea4c9b5e35e"
   },
   {
    "events": 105671,
    "path": "events_seed14.jsonl",
    "sha256": "e15565f0342f8c45b0513dafcc1a6c46d9ba7d74af8e028f06b784ad49ba561c"
   }
  ]
 },
 "config": {
  "actor": {
   "beta": 0.05,
   "critic_normalize": true,
   "delta_cap": 5.0,
   "epsilon": 0.1,
   "eta": 20.0,
   "eta_bias": 0.05,
   "eta_critic": 0.05,
   "gamma": 0.99,
   "lam": 0.9,
   "step_clip": 0.1,
   "temperature": 0.2
  },
  "arm": {
   "dt": 0.02,
   "friction": 0.1,
   "gain": 1.0,
   "horizon": 200,
   "lengths": [
    0.5,
    0.5
   ],
   "max_velocity": 2.0,
   "substeps": 5,
   "success_hold": 10,
   "success_radius": 0.05,
   "target_radius": [
    0.2,
    0.95
   ],
   "torque_cost": 0.001
  },
  "assumptions": [
   "Decisions at 10 Hz: one torque pair is held for five 50 Hz body steps, so one decision changes a joint velocity by at most 0.1 rad/s. The plan's 50 Hz decisions leave a torque's effect on the next displacement two orders below the coasting displacement.",
   "The sensors report the measured displacement, velocity change and angle change over the last decision; the world head predicts the next decision's values of the same three sensors, so imagined trajectories compose from predicted deltas without any supplied kinematics.",
   "Displacement sensor bounds are +-0.12 arm lengths per decision (typical values 0.03); the plan's wider bounds compressed the sensory code and tripled the prediction error.",
   "The world head is a records cortex (Marr 1969, Albus 1971): the reading of the sensory, goal, action and recall neurons, a fixed random expansion regenerated from the seed, the 160 most active of 32,000 cells kept (lateral inhibition), delta-rule records per prediction field at rate 0.1. No replay ring (replay per transition 0): a reading touches few records and the outcome is written into exactly those. The MLP baseline runs twice, under the same replay policy (none) and with its own ring of 4,096 transitions, so the comparison is read both ways; without a ring every dense online learner tried (the MLP with Adam, the settled recurrent head with momentum) diverges or stalls on this autocorrelated stream.",
   "Copier tracking is scored after a 50-decision approach from a random start; the bar is the plan's 0.10 or 1.2 times the supplied Jacobian-PD controller's own tracking error on the same paths, whichever is larger, because that controller calibrates the difficulty. The planner is supplied search: every torque pair is imagined through the learned model in one batched settle; a candidate is scored by how well its predicted hand displacement tracks a clipped velocity field toward the target. Distance reduction of the next state alone cannot see a torque's effect (second order in the decision interval).",
   "Two isolated evaluation copies per checkpoint (the plan's evaluation creates isolated checkpoint copies and never modifies the saved parent life): a read-only copy reports initial competence; a copy that keeps learning with exploration off, one held-out target after another, is the gated measure, because the world head keeps repairing itself in the agent's one operating mode. Lesions are compared on the first fifty held-out targets of adapting copies, before relearning can mask them.",
   "S00 contract layer revision: the file hashes in the receipt's sources block."
  ],
  "baselines": {
   "mlp_hidden": 64,
   "mlp_lr": 0.003,
   "mlp_replay": 1,
   "pd": {
    "deadband": 0.15,
    "kd": 1.5,
    "kp": 6.0
   }
  },
  "budget": {
   "adaptation_decisions": 4000,
   "babbling_decisions": 5000,
   "body_steps_cap": 100000,
   "copier_decisions": 200,
   "copier_paths": 50,
   "curve_interval": 1000,
   "curve_targets": 40,
   "heldout_targets": 200,
   "reaching_decisions": 10000,
   "return_decisions": 1000
  },
  "context_amplitude": 1.0,
  "context_decay": 0.8,
  "gates": {
   "adapt_recover": 0.8,
   "copier_rmse": 0.1,
   "copier_vs_pd": 1.2,
   "copier_vs_random_model": 0.3,
   "displacement_gain": 0.4,
   "latency_p95_ms": 20.0,
   "lesion_loss_points": 0.2,
   "retain": 0.8,
   "success_each": 0.8,
   "success_mean": 0.9
  },
  "graph": {
   "bias": 0.25,
   "density": 1.0,
   "dt": 0.5,
   "dynamics": 64,
   "input_gain": 2.0,
   "perceptual": 0,
   "readout_init": 0.0,
   "scale": 1.0,
   "sensory_to_dynamics": true,
   "source_scale": 2.0,
   "workspace": 64
  },
  "planner": {
   "beam": 4,
   "coast": 3,
   "depth": 1,
   "gain": 4.0,
   "max_speed": 0.3,
   "objective": "velocity",
   "rollout": 3
  },
  "records": {
   "active": 160,
   "granules": 32000,
   "habituation": 0.0,
   "rate": 0.1,
   "reward_rate": 1.0
  },
  "replay": {
   "capacity": 4096,
   "per_transition": 0
  },
  "seeds": {
   "acceptance": [
    10,
    11,
    12,
    13,
    14
   ],
   "development": [
    0,
    1
   ]
  },
  "stage": "S01",
  "world": {
   "beta": 0.05,
   "chunk": 16,
   "eta": 60.0,
   "eta_bias": 0.05,
   "fan_in_rate": true,
   "free_steps": 400,
   "label_smoothing": 0.05,
   "max_phase_gap": 0.3,
   "momentum": 0.9,
   "normalize": 0.0,
   "nudged_steps": 400,
   "reject_unconverged": true,
   "residual_tolerance": 1e-06,
   "step_clip": 0.3,
   "temperature": 0.2,
   "tolerance": 1e-07
  }
 },
 "config_sha256": "a8bc1d7ff32fb15e2acd8242e7da581f6d89c4b22592965d1ad944980660d862",
 "controls": {
  "born_frozen": [
   0.0,
   0.0,
   0.0,
   0.0,
   0.0
  ],
  "copier_rmse": {
   "born_frozen": [
    0.8003883826775039,
    0.7983211176363514,
    0.7965978228246456,
    0.8251135207736867,
    0.8109898034142818
   ],
   "jacobian_pd": [
    0.0913419255820851,
    0.1031489434566865,
    0.0898360078882853,
    0.1038469752257178,
    0.08270637015067635
   ],
   "online_mlp": [
    0.7090182837970856,
    0.7323857416067864,
    0.6712320678357474,
    0.6773043502023423,
    0.7088667229972073
   ]
  },
  "corrupted_dynamics": [
   0.91,
   0.845,
   0.875,
   0.875,
   0.905
  ],
  "jacobian_pd": [
   0.92,
   0.955,
   0.935,
   0.945,
   0.935
  ],
  "online_mlp": [
   0.03,
   0.03,
   0.02,
   0.015,
   0.05
  ],
  "online_mlp_replay": [
   0.99,
   0.995,
   1.0,
   0.995,
   0.98
  ],
  "random": [
   0.0,
   0.0,
   0.005,
   0.005,
   0.0
  ],
  "shuffled_pairing": [
   0.95,
   0.925,
   0.925,
   0.91,
   0.95
  ]
 },
 "counts": {
  "body_steps_per_seed": [
   100000,
   100000,
   100000,
   100000,
   100000
  ],
  "events_logged": [
   107159,
   104617,
   106668,
   107217,
   105671
  ],
  "imagined_per_seed": [
   364284,
   363258,
   364473,
   365121,
   363204
  ],
  "replay_writes": [
   0,
   0,
   0,
   0,
   0
  ]
 },
 "data_manifest_sha256": null,
 "failures": [],
 "initialization": {
  "kind": "random",
  "parent_receipt": null
 },
 "learned_components": [
  "workspace and dynamics synapses and the three prediction heads (hand acceleration, velocity change, angle change)"
 ],
 "metrics": {
  "changed_body_success": [
   0.995,
   0.995,
   0.995,
   0.985,
   0.99
  ],
  "copier_rmse": [
   0.03894115505581617,
   0.041864955919858844,
   0.050025533345514746,
   0.06834901060217909,
   0.058879642354384955
  ],
  "curve": [
   {
    "points": [
     {
      "decisions": 1000,
      "success": 0.1
     },
     {
      "decisions": 2000,
      "success": 0.1
     },
     {
      "decisions": 3000,
      "success": 0.1
     },
     {
      "decisions": 4000,
      "success": 0.55
     },
     {
      "decisions": 5000,
      "success": 0.375
     },
     {
      "decisions": 6000,
      "success": 0.725
     },
     {
      "decisions": 7000,
      "success": 0.7
     },
     {
      "decisions": 8000,
      "success": 0.85
     },
     {
      "decisions": 9000,
      "success": 0.875
     },
     {
      "decisions": 10000,
      "success": 0.7
     },
     {
      "decisions": 11000,
      "success": 0.95
     },
     {
      "decisions": 12000,
      "success": 0.95
     },
     {
      "decisions": 13000,
      "success": 0.975
     },
     {
      "decisions": 14000,
      "success": 0.975
     },
     {
      "decisions": 15000,
      "success": 0.95
     }
    ],
    "seed": 10
   },
   {
    "points": [
     {
      "decisions": 1000,
      "success": 0.25
     },
     {
      "decisions": 2000,
      "success": 0.2
     },
     {
      "decisions": 3000,
      "success": 0.325
     },
     {
      "decisions": 4000,
      "success": 0.525
     },
     {
      "decisions": 5000,
      "success": 0.5
     },
     {
      "decisions": 6000,
      "success": 0.5
     },
     {
      "decisions": 7000,
      "success": 0.75
     },
     {
      "decisions": 8000,
      "success": 0.85
     },
     {
      "decisions": 9000,
      "success": 0.825
     },
     {
      "decisions": 10000,
      "success": 0.925
     },
     {
      "decisions": 11000,
      "success": 0.9
     },
     {
      "decisions": 12000,
      "success": 0.9
     },
     {
      "decisions": 13000,
      "success": 0.925
     },
     {
      "decisions": 14000,
      "success": 0.975
     },
     {
      "decisions": 15000,
      "success": 1.0
     }
    ],
    "seed": 11
   },
   {
    "points": [
     {
      "decisions": 1000,
      "success": 0.05
     },
     {
      "decisions": 2000,
      "success": 0.05
     },
     {
      "decisions": 3000,
      "success": 0.225
     },
     {
      "decisions": 4000,
      "success": 0.05
     },
     {
      "decisions": 5000,
      "success": 0.15
     },
     {
      "decisions": 6000,
      "success": 0.55
     },
     {
      "decisions": 7000,
      "success": 0.75
     },
     {
      "decisions": 8000,
      "success": 0.85
     },
     {
      "decisions": 9000,
      "success": 0.95
     },
     {
      "decisions": 10000,
      "success": 0.85
     },
     {
      "decisions": 11000,
      "success": 0.95
     },
     {
      "decisions": 12000,
      "success": 0.925
     },
     {
      "decisions": 13000,
      "success": 0.975
     },
     {
      "decisions": 14000,
      "success": 0.95
     },
     {
      "decisions": 15000,
      "success": 0.975
     }
    ],
    "seed": 12
   },
   {
    "points": [
     {
      "decisions": 1000,
      "success": 0.125
     },
     {
      "decisions": 2000,
      "success": 0.125
     },
     {
      "decisions": 3000,
      "success": 0.225
     },
     {
      "decisions": 4000,
      "success": 0.575
     },
     {
      "decisions": 5000,
      "success": 0.55
     },
     {
      "decisions": 6000,
      "success": 0.6
     },
     {
      "decisions": 7000,
      "success": 0.6
     },
     {
      "decisions": 8000,
      "success": 0.825
     },
     {
      "decisions": 9000,
      "success": 0.8
     },
     {
      "decisions": 10000,
      "success": 0.925
     },
     {
      "decisions": 11000,
      "success": 0.8
     },
     {
      "decisions": 12000,
      "success": 0.95
     },
     {
      "decisions": 13000,
      "success": 0.925
     },
     {
      "decisions": 14000,
      "success": 0.9
     },
     {
      "decisions": 15000,
      "success": 0.9
     }
    ],
    "seed": 13
   },
   {
    "points": [
     {
      "decisions": 1000,
      "success": 0.125
     },
     {
      "decisions": 2000,
      "success": 0.35
     },
     {
      "decisions": 3000,
      "success": 0.2
     },
     {
      "decisions": 4000,
      "success": 0.375
     },
     {
      "decisions": 5000,
      "success": 0.275
     },
     {
      "decisions": 6000,
      "success": 0.625
     },
     {
      "decisions": 7000,
      "success": 0.8
     },
     {
      "decisions": 8000,
      "success": 0.825
     },
     {
      "decisions": 9000,
      "success": 0.925
     },
     {
      "decisions": 10000,
      "success": 0.95
     },
     {
      "decisions": 11000,
      "success": 0.95
     },
     {
      "decisions": 12000,
      "success": 0.975
     },
     {
      "decisions": 13000,
      "success": 0.9
     },
     {
      "decisions": 14000,
      "success": 1.0
     },
     {
      "decisions": 15000,
      "success": 0.975
     }
    ],
    "seed": 14
   }
  ],
  "displacement_gain": [
   0.49989404152024164,
   0.4949318911990318,
   0.6174395982617658,
   0.5738721191109368,
   0.6344945552150207
  ],
  "heldout_success": [
   0.995,
   0.995,
   1.0,
   0.995,
   0.985
  ],
  "heldout_success_frozen": [
   0.955,
   0.985,
   0.935,
   0.93,
   0.96
  ],
  "per_seed": [
   {
    "babbling": {
     "d_angles": {
      "model_mse_last500": 0.00038918489754695006,
      "zero_mse_last500": 0.0023466376626057306
     },
     "d_velocity": {
      "model_mse_last500": 0.00011558904936410239,
      "zero_mse_last500": 0.006732044739003051
     },
     "dd_hand": {
      "model_mse_last500": 6.549747377228626e-06,
      "zero_mse_last500": 1.3096719337515602e-05
     }
    },
    "body_steps": 100000,
    "budget": {
     "adaptation_decisions": 4000,
     "babbling_decisions": 5000,
     "body_steps_cap": 100000,
     "copier_decisions": 200,
     "copier_paths": 50,
     "curve_interval": 1000,
     "curve_targets": 40,
     "heldout_targets": 200,
     "reaching_decisions": 10000,
     "return_decisions": 1000
    },
    "changed_body": {
     "decisions": 54.05,
     "final_distance": 0.017231161156566463,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.995,
     "success_first50": 0.98
    },
    "checkpoints": [
     {
      "path": "arm_seed10_babbling_00500.npz",
      "sha256": "b378e9ec3389153a2e9a7908b35c381e87d2e3c9d8f4ba223ff67b3f5d37df2f"
     },
     {
      "path": "arm_seed10_babbling_02000.npz",
      "sha256": "ca5193b5d0f853f66a750e84772d8f9a59eeda9bd151f5e9566f789d2f7e6070"
     },
     {
      "path": "arm_seed10_babbling_05000.npz",
      "sha256": "fc3cf9462ae0b7ddf9d91e7bc56662b08a3574f523215be75f2b4f11ffbc817b"
     },
     {
      "path": "arm_seed10_reaching_02500.npz",
      "sha256": "4d5951addbc7eef88128147e8fdfe5a9af91e5aaa19aa66d63d61bf78212285b"
     },
     {
      "path": "arm_seed10_reaching_05000.npz",
      "sha256": "3a52e8316fb9a9fbf5200d6255114aff4c47857db46e96332a372543ff32f965"
     },
     {
      "path": "arm_seed10_reaching.npz",
      "sha256": "383ce6cd2fb192a3158210f29bca94b752fc196951b0452768085510ee4f8967"
     },
     {
      "path": "arm_seed10_final.npz",
      "sha256": "566bd4c1cc3dd8d5df2e1b8594cb2510b46ab6bac9c6e57ea37bb7d680f0fac0"
     }
    ],
    "controls": {
     "born_frozen": {
      "copier_rmse": 0.8003883826775039,
      "decisions": 200.0,
      "final_distance": 0.8525560370146663,
      "mode": "frozen",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "success": 0.0,
      "success_first50": 0.0
     },
     "corrupted_dynamics": {
      "decisions": 71.49,
      "final_distance": 0.07948488105400375,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.91,
      "success_first50": 0.66
     },
     "jacobian_pd": {
      "copier_rmse": 0.0913419255820851,
      "decisions": 82.43,
      "final_distance": 0.03546167607333649,
      "mode": "adapting",
      "per_target": [
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.92,
      "success_first50": 0.9
     },
     "online_mlp": {
      "babbling_model_mse": {
       "d_angles": 0.002656061817909645,
       "d_velocity": 0.00043617861402906746,
       "dd_hand": 3.35457170576438e-05
      },
      "copier_rmse": 0.7090182837970856,
      "decisions": 198.875,
      "final_distance": 0.7932493946519924,
      "mode": "adapting",
      "parameters": 2182,
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "replay_per_transition": 0,
      "success": 0.03,
      "success_first50": 0.0
     },
     "online_mlp_replay": {
      "babbling_model_mse": {
       "d_angles": 0.0001657003922342571,
       "d_velocity": 9.068625987017175e-05,
       "dd_hand": 7.738980697907212e-06
      },
      "copier_rmse": 0.11828849612182464,
      "decisions": 64.29,
      "final_distance": 0.02325168352794803,
      "mode": "adapting",
      "parameters": 2182,
      "per_target": [
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "replay_per_transition": 1,
      "success": 0.99,
      "success_first50": 1.0
     },
     "random": {
      "decisions": 200.0,
      "final_distance": 0.8435097099318355,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "success": 0.0,
      "success_first50": 0.0
     },
     "shuffled_pairing": {
      "babbling_model_mse": {
       "d_angles": 0.000289673923344012,
       "d_velocity": 0.007046064088297972,
       "dd_hand": 9.802195761339732e-06
      },
      "decisions": 70.08,
      "final_distance": 0.04494647966545207,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.95,
      "success_first50": 0.8
     }
    },
    "copier": {
     "approach_decisions": 50,
     "per_family": {
      "circle": 0.030408664763303388,
      "combination": 0.03617445751840875,
      "line": 0.05007759597177123
     },
     "rmse": 0.03894115505581617
    },
    "curve": [
     {
      "decisions": 1000,
      "success": 0.1
     },
     {
      "decisions": 2000,
      "success": 0.1
     },
     {
      "decisions": 3000,
      "success": 0.1
     },
     {
      "decisions": 4000,
      "success": 0.55
     },
     {
      "decisions": 5000,
      "success": 0.375
     },
     {
      "decisions": 6000,
      "success": 0.725
     },
     {
      "decisions": 7000,
      "success": 0.7
     },
     {
      "decisions": 8000,
      "success": 0.85
     },
     {
      "decisions": 9000,
      "success": 0.875
     },
     {
      "decisions": 10000,
      "success": 0.7
     },
     {
      "decisions": 11000,
      "success": 0.95
     },
     {
      "decisions": 12000,
      "success": 0.95
     },
     {
      "decisions": 13000,
      "success": 0.975
     },
     {
      "decisions": 14000,
      "success": 0.975
     },
     {
      "decisions": 15000,
      "success": 0.95
     }
    ],
    "events": {
     "events": 107159,
     "path": "events_seed10.jsonl",
     "sha256": "c0e52f26a0cce24a0d002c37bf621c54c851c32c10a8f53ef89b06976b6eabf8"
    },
    "heldout": {
     "decisions": 53.5,
     "final_distance": 0.024630620974139043,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.995,
     "success_first50": 1.0
    },
    "heldout_frozen": {
     "decisions": 64.43,
     "final_distance": 0.06396899769401543,
     "mode": "frozen",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.955,
     "success_first50": 0.94
    },
    "latency_ms": {
     "events": 336242,
     "p50": 1.042990000314603,
     "p95": 12.608298999566614
    },
    "ledger": {
     "clipped_deltas": 0,
     "deltas": 19999,
     "episodic_writes": 0,
     "imagined": 364284,
     "max_residual": {
      "bootstrap": 9.390138593357023e-07,
      "free": 9.999729182752493e-07
     },
     "mean_steps": {
      "bootstrap": 66.46153846153847,
      "free": 60.796999901312546
     },
     "phases": {
      "bootstrap": 26,
      "free": 20266
     },
     "real_transitions": 19999,
     "record_writes": 59997,
     "rejected_updates": 0,
     "replay_writes": 0,
     "unconverged_phases": {}
    },
    "parameters": {
     "critic_parameters": 65,
     "directed_synapses": 19520,
     "eligibility_numbers": 19839,
     "episodic_parameters": 0,
     "motor_parameters": 585,
     "neurons": 254,
     "optimizer_numbers": 79096,
     "record_parameters": 192000,
     "world_parameters": 14022
    },
    "reaching_training": {
     "episodes": 155,
     "success_last20": 1.0
    },
    "returned_body": {
     "decisions": 52.07,
     "final_distance": 0.024447510101140334,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.995,
     "success_first50": 1.0
    },
    "seed": 10,
    "split": "acceptance",
    "wall_seconds": 2792.2308320999146
   },
   {
    "babbling": {
     "d_angles": {
      "model_mse_last500": 0.0003404984679419837,
      "zero_mse_last500": 0.002132419170744116
     },
     "d_velocity": {
      "model_mse_last500": 0.00011328745538729486,
      "zero_mse_last500": 0.00667630999255328
     },
     "dd_hand": {
      "model_mse_last500": 6.730704362359181e-06,
      "zero_mse_last500": 1.3326330142558147e-05
     }
    },
    "body_steps": 100000,
    "budget": {
     "adaptation_decisions": 4000,
     "babbling_decisions": 5000,
     "body_steps_cap": 100000,
     "copier_decisions": 200,
     "copier_paths": 50,
     "curve_interval": 1000,
     "curve_targets": 40,
     "heldout_targets": 200,
     "reaching_decisions": 10000,
     "return_decisions": 1000
    },
    "changed_body": {
     "decisions": 52.51,
     "final_distance": 0.016179662026684048,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.995,
     "success_first50": 1.0
    },
    "checkpoints": [
     {
      "path": "arm_seed11_babbling_00500.npz",
      "sha256": "258853aa68883cce8b071ff9a5ec750ca050b8ff0d5da3b5c662821a81166cb2"
     },
     {
      "path": "arm_seed11_babbling_02000.npz",
      "sha256": "ce5252bd4507299ef0b3e5347f2228e174df611cc523da978aedbb3c6c02e24d"
     },
     {
      "path": "arm_seed11_babbling_05000.npz",
      "sha256": "63141a5c867d7646838380f25c4bf009c70e977e0157f7e60038763bb68feb0b"
     },
     {
      "path": "arm_seed11_reaching_02500.npz",
      "sha256": "8f6fdb0f605f54308e87adf160a788a434bfe2da4aaf691fb97933d9d0eb2da8"
     },
     {
      "path": "arm_seed11_reaching_05000.npz",
      "sha256": "b78b41b65524b63ab951f48e9d8556337b736272500c35125d9dfbad2da62270"
     },
     {
      "path": "arm_seed11_reaching.npz",
      "sha256": "d1667d883151f703aee2538764f13388765a2afab4167da54dc3d789f77be7c5"
     },
     {
      "path": "arm_seed11_final.npz",
      "sha256": "4b8b83f124f5549e6d10e313e09bbe5c9d9f3e719d18578fb25ac5350a55f539"
     }
    ],
    "controls": {
     "born_frozen": {
      "copier_rmse": 0.7983211176363514,
      "decisions": 200.0,
      "final_distance": 0.8448882716954665,
      "mode": "frozen",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "success": 0.0,
      "success_first50": 0.0
     },
     "corrupted_dynamics": {
      "decisions": 87.735,
      "final_distance": 0.09439515808645602,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.845,
      "success_first50": 0.46
     },
     "jacobian_pd": {
      "copier_rmse": 0.1031489434566865,
      "decisions": 79.015,
      "final_distance": 0.03472078699434745,
      "mode": "adapting",
      "per_target": [
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.955,
      "success_first50": 0.94
     },
     "online_mlp": {
      "babbling_model_mse": {
       "d_angles": 0.0008030598511646489,
       "d_velocity": 0.0003606888340416906,
       "dd_hand": 2.6180288438045407e-05
      },
      "copier_rmse": 0.7323857416067864,
      "decisions": 197.96,
      "final_distance": 0.7604453559069964,
      "mode": "adapting",
      "parameters": 2182,
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "replay_per_transition": 0,
      "success": 0.03,
      "success_first50": 0.02
     },
     "online_mlp_replay": {
      "babbling_model_mse": {
       "d_angles": 0.00019621450547151266,
       "d_velocity": 5.688488065624762e-05,
       "dd_hand": 8.035687115713982e-06
      },
      "copier_rmse": 0.10561544225745267,
      "decisions": 65.19,
      "final_distance": 0.017491665750061024,
      "mode": "adapting",
      "parameters": 2182,
      "per_target": [
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "replay_per_transition": 1,
      "success": 0.995,
      "success_first50": 0.98
     },
     "random": {
      "decisions": 200.0,
      "final_distance": 0.869461291481752,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "success": 0.0,
      "success_first50": 0.0
     },
     "shuffled_pairing": {
      "babbling_model_mse": {
       "d_angles": 0.00040181579515001774,
       "d_velocity": 0.006766622934108536,
       "dd_hand": 1.2911030944641163e-05
      },
      "decisions": 73.415,
      "final_distance": 0.04616137169189656,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       0.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.925,
      "success_first50": 0.72
     }
    },
    "copier": {
     "approach_decisions": 50,
     "per_family": {
      "circle": 0.028004255319805216,
      "combination": 0.06175498803507665,
      "line": 0.03700562629382513
     },
     "rmse": 0.041864955919858844
    },
    "curve": [
     {
      "decisions": 1000,
      "success": 0.25
     },
     {
      "decisions": 2000,
      "success": 0.2
     },
     {
      "decisions": 3000,
      "success": 0.325
     },
     {
      "decisions": 4000,
      "success": 0.525
     },
     {
      "decisions": 5000,
      "success": 0.5
     },
     {
      "decisions": 6000,
      "success": 0.5
     },
     {
      "decisions": 7000,
      "success": 0.75
     },
     {
      "decisions": 8000,
      "success": 0.85
     },
     {
      "decisions": 9000,
      "success": 0.825
     },
     {
      "decisions": 10000,
      "success": 0.925
     },
     {
      "decisions": 11000,
      "success": 0.9
     },
     {
      "decisions": 12000,
      "success": 0.9
     },
     {
      "decisions": 13000,
      "success": 0.925
     },
     {
      "decisions": 14000,
      "success": 0.975
     },
     {
      "decisions": 15000,
      "success": 1.0
     }
    ],
    "events": {
     "events": 104617,
     "path": "events_seed11.jsonl",
     "sha256": "eb6bc6e17b5068fc999fb0b2df43678ef22a23f9adb8e7839dde0194fc2cf2da"
    },
    "heldout": {
     "decisions": 51.765,
     "final_distance": 0.016017022913568657,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.995,
     "success_first50": 1.0
    },
    "heldout_frozen": {
     "decisions": 56.295,
     "final_distance": 0.03483789524809844,
     "mode": "frozen",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.985,
     "success_first50": 1.0
    },
    "latency_ms": {
     "events": 336930,
     "p50": 1.0487614999874495,
     "p95": 12.6064591994691
    },
    "ledger": {
     "clipped_deltas": 0,
     "deltas": 19999,
     "episodic_writes": 0,
     "imagined": 363258,
     "max_residual": {
      "bootstrap": 8.15253130587168e-07,
      "free": 9.99943348622967e-07
     },
     "mean_steps": {
      "bootstrap": 68.96551724137932,
      "free": 62.566563009033025
     },
     "phases": {
      "bootstrap": 29,
      "free": 20259
     },
     "real_transitions": 19999,
     "record_writes": 59997,
     "rejected_updates": 0,
     "replay_writes": 0,
     "unconverged_phases": {}
    },
    "parameters": {
     "critic_parameters": 65,
     "directed_synapses": 19520,
     "eligibility_numbers": 19839,
     "episodic_parameters": 0,
     "motor_parameters": 585,
     "neurons": 254,
     "optimizer_numbers": 79096,
     "record_parameters": 192000,
     "world_parameters": 14022
    },
    "reaching_training": {
     "episodes": 146,
     "success_last20": 1.0
    },
    "returned_body": {
     "decisions": 50.91,
     "final_distance": 0.0257421031794569,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.99,
     "success_first50": 1.0
    },
    "seed": 11,
    "split": "acceptance",
    "wall_seconds": 2765.1157264709473
   },
   {
    "babbling": {
     "d_angles": {
      "model_mse_last500": 0.000329427164078702,
      "zero_mse_last500": 0.0023208179533538258
     },
     "d_velocity": {
      "model_mse_last500": 0.00014890463599378883,
      "zero_mse_last500": 0.00651527069067178
     },
     "dd_hand": {
      "model_mse_last500": 1.05652276191687e-05,
      "zero_mse_last500": 2.7617149007486468e-05
     }
    },
    "body_steps": 100000,
    "budget": {
     "adaptation_decisions": 4000,
     "babbling_decisions": 5000,
     "body_steps_cap": 100000,
     "copier_decisions": 200,
     "copier_paths": 50,
     "curve_interval": 1000,
     "curve_targets": 40,
     "heldout_targets": 200,
     "reaching_decisions": 10000,
     "return_decisions": 1000
    },
    "changed_body": {
     "decisions": 53.09,
     "final_distance": 0.015732491724024408,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.995,
     "success_first50": 1.0
    },
    "checkpoints": [
     {
      "path": "arm_seed12_babbling_00500.npz",
      "sha256": "fc11134d5b357b3974919ffa579db149108c5f5f0ffa1148c818474a86c76f60"
     },
     {
      "path": "arm_seed12_babbling_02000.npz",
      "sha256": "4d1911a94c3b8d9b2b382f77d745a1ef3d5df20ce904a345b190e4898bdc2f7f"
     },
     {
      "path": "arm_seed12_babbling_05000.npz",
      "sha256": "58aab94e2b0dc155bf627ff030e94f48819456ab94adf377d7bbd62ad0997263"
     },
     {
      "path": "arm_seed12_reaching_02500.npz",
      "sha256": "bcfbad745f9be0ba1fa7c56175922be30c11cdc20f5407522c2a61efb9116405"
     },
     {
      "path": "arm_seed12_reaching_05000.npz",
      "sha256": "65747c702c996154a6b707b97ca05357c6bc0652fe1e06a9faf993ed3713ac9a"
     },
     {
      "path": "arm_seed12_reaching.npz",
      "sha256": "398cdc940227cbbd8b48e139b8f0023356299e6ac81db6bd8d8f2ca1760f3c0a"
     },
     {
      "path": "arm_seed12_final.npz",
      "sha256": "3119499c4488984a3e1a60c10843fedfffcbb4e5f892cdffa2208e9a43fe1ec6"
     }
    ],
    "controls": {
     "born_frozen": {
      "copier_rmse": 0.7965978228246456,
      "decisions": 200.0,
      "final_distance": 0.8316639251946077,
      "mode": "frozen",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "success": 0.0,
      "success_first50": 0.0
     },
     "corrupted_dynamics": {
      "decisions": 85.495,
      "final_distance": 0.07959476988120291,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.875,
      "success_first50": 0.58
     },
     "jacobian_pd": {
      "copier_rmse": 0.0898360078882853,
      "decisions": 82.0,
      "final_distance": 0.03339475514269877,
      "mode": "adapting",
      "per_target": [
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.935,
      "success_first50": 0.92
     },
     "online_mlp": {
      "babbling_model_mse": {
       "d_angles": 0.0008756545297141338,
       "d_velocity": 0.00019314206164574045,
       "dd_hand": 2.4979051394550514e-05
      },
      "copier_rmse": 0.6712320678357474,
      "decisions": 197.975,
      "final_distance": 0.7522690015969244,
      "mode": "adapting",
      "parameters": 2182,
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "replay_per_transition": 0,
      "success": 0.02,
      "success_first50": 0.02
     },
     "online_mlp_replay": {
      "babbling_model_mse": {
       "d_angles": 8.553251564723724e-05,
       "d_velocity": 4.269592213492531e-05,
       "dd_hand": 6.336189104929609e-06
      },
      "copier_rmse": 0.05538941068160613,
      "decisions": 61.66,
      "final_distance": 0.016827325367944956,
      "mode": "adapting",
      "parameters": 2182,
      "per_target": [
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "replay_per_transition": 1,
      "success": 1.0,
      "success_first50": 1.0
     },
     "random": {
      "decisions": 199.47,
      "final_distance": 0.8688015578348336,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "success": 0.005,
      "success_first50": 0.0
     },
     "shuffled_pairing": {
      "babbling_model_mse": {
       "d_angles": 0.0004117958560592667,
       "d_velocity": 0.006812054541407243,
       "dd_hand": 1.7405158796785515e-05
      },
      "decisions": 76.865,
      "final_distance": 0.05473632456817242,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.925,
      "success_first50": 0.78
     }
    },
    "copier": {
     "approach_decisions": 50,
     "per_family": {
      "circle": 0.050432625820331534,
      "combination": 0.03835337845531758,
      "line": 0.06060399841441294
     },
     "rmse": 0.050025533345514746
    },
    "curve": [
     {
      "decisions": 1000,
      "success": 0.05
     },
     {
      "decisions": 2000,
      "success": 0.05
     },
     {
      "decisions": 3000,
      "success": 0.225
     },
     {
      "decisions": 4000,
      "success": 0.05
     },
     {
      "decisions": 5000,
      "success": 0.15
     },
     {
      "decisions": 6000,
      "success": 0.55
     },
     {
      "decisions": 7000,
      "success": 0.75
     },
     {
      "decisions": 8000,
      "success": 0.85
     },
     {
      "decisions": 9000,
      "success": 0.95
     },
     {
      "decisions": 10000,
      "success": 0.85
     },
     {
      "decisions": 11000,
      "success": 0.95
     },
     {
      "decisions": 12000,
      "success": 0.925
     },
     {
      "decisions": 13000,
      "success": 0.975
     },
     {
      "decisions": 14000,
      "success": 0.95
     },
     {
      "decisions": 15000,
      "success": 0.975
     }
    ],
    "events": {
     "events": 106668,
     "path": "events_seed12.jsonl",
     "sha256": "87c93c316cbf66878278b9c32200914dee7e707810c6ef1a7ed1631da429dff6"
    },
    "heldout": {
     "decisions": 52.39,
     "final_distance": 0.01604234495119428,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 1.0,
     "success_first50": 1.0
    },
    "heldout_frozen": {
     "decisions": 63.94,
     "final_distance": 0.07006856911946781,
     "mode": "frozen",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.935,
     "success_first50": 0.96
    },
    "latency_ms": {
     "events": 339011,
     "p50": 1.2052019992552232,
     "p95": 12.180236000858713
    },
    "ledger": {
     "clipped_deltas": 0,
     "deltas": 19999,
     "episodic_writes": 0,
     "imagined": 364473,
     "max_residual": {
      "bootstrap": 9.331701714687668e-07,
      "free": 9.99570486076573e-07
     },
     "mean_steps": {
      "bootstrap": 78.4,
      "free": 63.84678414531813
     },
     "phases": {
      "bootstrap": 30,
      "free": 20259
     },
     "real_transitions": 19999,
     "record_writes": 59997,
     "rejected_updates": 0,
     "replay_writes": 0,
     "unconverged_phases": {}
    },
    "parameters": {
     "critic_parameters": 65,
     "directed_synapses": 19520,
     "eligibility_numbers": 19839,
     "episodic_parameters": 0,
     "motor_parameters": 585,
     "neurons": 254,
     "optimizer_numbers": 79096,
     "record_parameters": 192000,
     "world_parameters": 14022
    },
    "reaching_training": {
     "episodes": 141,
     "success_last20": 1.0
    },
    "returned_body": {
     "decisions": 52.205,
     "final_distance": 0.017691588242471003,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.99,
     "success_first50": 1.0
    },
    "seed": 12,
    "split": "acceptance",
    "wall_seconds": 2848.437987804413
   },
   {
    "babbling": {
     "d_angles": {
      "model_mse_last500": 0.0003360237534030955,
      "zero_mse_last500": 0.0030090571078261403
     },
     "d_velocity": {
      "model_mse_last500": 0.00014918740207564823,
      "zero_mse_last500": 0.007015867002744255
     },
     "dd_hand": {
      "model_mse_last500": 9.556095247660295e-06,
      "zero_mse_last500": 2.242541658556273e-05
     }
    },
    "body_steps": 100000,
    "budget": {
     "adaptation_decisions": 4000,
     "babbling_decisions": 5000,
     "body_steps_cap": 100000,
     "copier_decisions": 200,
     "copier_paths": 50,
     "curve_interval": 1000,
     "curve_targets": 40,
     "heldout_targets": 200,
     "reaching_decisions": 10000,
     "return_decisions": 1000
    },
    "changed_body": {
     "decisions": 53.685,
     "final_distance": 0.02526128892999771,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.985,
     "success_first50": 1.0
    },
    "checkpoints": [
     {
      "path": "arm_seed13_babbling_00500.npz",
      "sha256": "335507dcf460654f23018c1f2b7fa9ae35ffe84b0ec1bbbcebbffe0421b999a3"
     },
     {
      "path": "arm_seed13_babbling_02000.npz",
      "sha256": "0fd9b39ab9fcb3e2b6b05c7a4bd88f3a6bc3c570971ede722360cf5dc7d120df"
     },
     {
      "path": "arm_seed13_babbling_05000.npz",
      "sha256": "3aa6a392c336f000944ec2efcbbb2cf891054e4195aef1f32767d465e61feb49"
     },
     {
      "path": "arm_seed13_reaching_02500.npz",
      "sha256": "ab133d0c7edb57932f258b3e97809f7658bdae947bc7f4118f2f32a6225d1cbf"
     },
     {
      "path": "arm_seed13_reaching_05000.npz",
      "sha256": "99a5eac1376e6f7ba65e6759717b83b06075d1a10ae1291bb3fb2e74fce4f4d7"
     },
     {
      "path": "arm_seed13_reaching.npz",
      "sha256": "00c6a98110c15dc6a2dfff75e4f87ef5db641e810de64f3d25d6ad44ceaa869d"
     },
     {
      "path": "arm_seed13_final.npz",
      "sha256": "f5c8f1fcee5a30d7f4a5cb2233c2cb96d8ce5b39829323f06efa133e5babee09"
     }
    ],
    "controls": {
     "born_frozen": {
      "copier_rmse": 0.8251135207736867,
      "decisions": 200.0,
      "final_distance": 0.868480121645376,
      "mode": "frozen",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "success": 0.0,
      "success_first50": 0.0
     },
     "corrupted_dynamics": {
      "decisions": 85.38,
      "final_distance": 0.08655727134786854,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       0.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.875,
      "success_first50": 0.6
     },
     "jacobian_pd": {
      "copier_rmse": 0.1038469752257178,
      "decisions": 78.995,
      "final_distance": 0.035277593744968666,
      "mode": "adapting",
      "per_target": [
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.945,
      "success_first50": 0.94
     },
     "online_mlp": {
      "babbling_model_mse": {
       "d_angles": 0.0006712726276062215,
       "d_velocity": 0.0002329422475258002,
       "dd_hand": 1.783680699448885e-05
      },
      "copier_rmse": 0.6773043502023423,
      "decisions": 199.55,
      "final_distance": 0.7469167370650971,
      "mode": "adapting",
      "parameters": 2182,
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "replay_per_transition": 0,
      "success": 0.015,
      "success_first50": 0.0
     },
     "online_mlp_replay": {
      "babbling_model_mse": {
       "d_angles": 0.00021745388558407587,
       "d_velocity": 7.668978023739155e-05,
       "dd_hand": 1.1175631404173484e-05
      },
      "copier_rmse": 0.08648607671851785,
      "decisions": 63.35,
      "final_distance": 0.015475969968428194,
      "mode": "adapting",
      "parameters": 2182,
      "per_target": [
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "replay_per_transition": 1,
      "success": 0.995,
      "success_first50": 0.98
     },
     "random": {
      "decisions": 199.33,
      "final_distance": 0.8401191524349647,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "success": 0.005,
      "success_first50": 0.0
     },
     "shuffled_pairing": {
      "babbling_model_mse": {
       "d_angles": 0.0006292611562731552,
       "d_velocity": 0.007095836122167118,
       "dd_hand": 2.544737824973396e-05
      },
      "decisions": 81.605,
      "final_distance": 0.059968405141121686,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       1.0,
       0.0,
       1.0,
       0.0,
       1.0,
       0.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.91,
      "success_first50": 0.7
     }
    },
    "copier": {
     "approach_decisions": 50,
     "per_family": {
      "circle": 0.06925687801708078,
      "combination": 0.05518217034879156,
      "line": 0.07983346342575977
     },
     "rmse": 0.06834901060217909
    },
    "curve": [
     {
      "decisions": 1000,
      "success": 0.125
     },
     {
      "decisions": 2000,
      "success": 0.125
     },
     {
      "decisions": 3000,
      "success": 0.225
     },
     {
      "decisions": 4000,
      "success": 0.575
     },
     {
      "decisions": 5000,
      "success": 0.55
     },
     {
      "decisions": 6000,
      "success": 0.6
     },
     {
      "decisions": 7000,
      "success": 0.6
     },
     {
      "decisions": 8000,
      "success": 0.825
     },
     {
      "decisions": 9000,
      "success": 0.8
     },
     {
      "decisions": 10000,
      "success": 0.925
     },
     {
      "decisions": 11000,
      "success": 0.8
     },
     {
      "decisions": 12000,
      "success": 0.95
     },
     {
      "decisions": 13000,
      "success": 0.925
     },
     {
      "decisions": 14000,
      "success": 0.9
     },
     {
      "decisions": 15000,
      "success": 0.9
     }
    ],
    "events": {
     "events": 107217,
     "path": "events_seed13.jsonl",
     "sha256": "f8c614db721fc2ca489548277c3f86e19871bb322236499baeb97ea4c9b5e35e"
    },
    "heldout": {
     "decisions": 53.205,
     "final_distance": 0.022963827602970534,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.995,
     "success_first50": 1.0
    },
    "heldout_frozen": {
     "decisions": 65.95,
     "final_distance": 0.09311740223177256,
     "mode": "frozen",
     "per_target": [
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.93,
     "success_first50": 0.92
    },
    "latency_ms": {
     "events": 340509,
     "p50": 1.6077370000857627,
     "p95": 12.51278380077565
    },
    "ledger": {
     "clipped_deltas": 0,
     "deltas": 19999,
     "episodic_writes": 0,
     "imagined": 365121,
     "max_residual": {
      "bootstrap": 9.795126060252457e-07,
      "free": 9.997884897749998e-07
     },
     "mean_steps": {
      "bootstrap": 81.03225806451613,
      "free": 73.2218655868846
     },
     "phases": {
      "bootstrap": 31,
      "free": 20251
     },
     "real_transitions": 19999,
     "record_writes": 59997,
     "rejected_updates": 0,
     "replay_writes": 0,
     "unconverged_phases": {}
    },
    "parameters": {
     "critic_parameters": 65,
     "directed_synapses": 19520,
     "eligibility_numbers": 19839,
     "episodic_parameters": 0,
     "motor_parameters": 585,
     "neurons": 254,
     "optimizer_numbers": 79096,
     "record_parameters": 192000,
     "world_parameters": 14022
    },
    "reaching_training": {
     "episodes": 132,
     "success_last20": 1.0
    },
    "returned_body": {
     "decisions": 51.645,
     "final_distance": 0.02290344825948149,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.995,
     "success_first50": 1.0
    },
    "seed": 13,
    "split": "acceptance",
    "wall_seconds": 2845.9116291999817
   },
   {
    "babbling": {
     "d_angles": {
      "model_mse_last500": 0.00047720098331718386,
      "zero_mse_last500": 0.004925864760735362
     },
     "d_velocity": {
      "model_mse_last500": 0.0001489016481369945,
      "zero_mse_last500": 0.006517803745075088
     },
     "dd_hand": {
      "model_mse_last500": 2.43634232264142e-05,
      "zero_mse_last500": 6.665679971127872e-05
     }
    },
    "body_steps": 100000,
    "budget": {
     "adaptation_decisions": 4000,
     "babbling_decisions": 5000,
     "body_steps_cap": 100000,
     "copier_decisions": 200,
     "copier_paths": 50,
     "curve_interval": 1000,
     "curve_targets": 40,
     "heldout_targets": 200,
     "reaching_decisions": 10000,
     "return_decisions": 1000
    },
    "changed_body": {
     "decisions": 52.8,
     "final_distance": 0.018989619792135495,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.99,
     "success_first50": 0.98
    },
    "checkpoints": [
     {
      "path": "arm_seed14_babbling_00500.npz",
      "sha256": "4cd8aa49fb2dcc553dc1fa0be72fc321d4914b45ab02ef1ed1af7cc52a34da31"
     },
     {
      "path": "arm_seed14_babbling_02000.npz",
      "sha256": "c01ddb702415cb3fd1cf4d0c113abf57347121982ab78a0b890fc17afca2b3f8"
     },
     {
      "path": "arm_seed14_babbling_05000.npz",
      "sha256": "3bc1ecc44b68b8a5e724b81adb54b1c1de32496aa2edf967b913ef4d945b8dc3"
     },
     {
      "path": "arm_seed14_reaching_02500.npz",
      "sha256": "daa74f91275f8d4d771748f12ea92f6fa06ea28dcbc9ebe8955484dec56a571c"
     },
     {
      "path": "arm_seed14_reaching_05000.npz",
      "sha256": "da01f7071adf98368b0409ed4fef767310d38c4dd50ad93d17a63cebc087fbdb"
     },
     {
      "path": "arm_seed14_reaching.npz",
      "sha256": "06a468b61c4e85f508662c7dbbb43cde5bb849ce747aaa2d9b938c8946e71409"
     },
     {
      "path": "arm_seed14_final.npz",
      "sha256": "8d1866b7038dcf615246083480683786ba8dde95c83de784cff162bc291087c5"
     }
    ],
    "controls": {
     "born_frozen": {
      "copier_rmse": 0.8109898034142818,
      "decisions": 200.0,
      "final_distance": 0.8455859834438232,
      "mode": "frozen",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "success": 0.0,
      "success_first50": 0.0
     },
     "corrupted_dynamics": {
      "decisions": 76.4,
      "final_distance": 0.07410306744818426,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       1.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.905,
      "success_first50": 0.66
     },
     "jacobian_pd": {
      "copier_rmse": 0.08270637015067635,
      "decisions": 80.775,
      "final_distance": 0.04180342862780945,
      "mode": "adapting",
      "per_target": [
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.935,
      "success_first50": 0.94
     },
     "online_mlp": {
      "babbling_model_mse": {
       "d_angles": 0.002876302672973587,
       "d_velocity": 0.002135580038556089,
       "dd_hand": 4.0659272782650565e-05
      },
      "copier_rmse": 0.7088667229972073,
      "decisions": 197.61,
      "final_distance": 0.7511666089063047,
      "mode": "adapting",
      "parameters": 2182,
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       1.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       1.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "replay_per_transition": 0,
      "success": 0.05,
      "success_first50": 0.02
     },
     "online_mlp_replay": {
      "babbling_model_mse": {
       "d_angles": 0.00013979986398463483,
       "d_velocity": 6.580549316942485e-05,
       "dd_hand": 7.488895497209226e-06
      },
      "copier_rmse": 0.11853502895341167,
      "decisions": 62.57,
      "final_distance": 0.019909232240938733,
      "mode": "adapting",
      "parameters": 2182,
      "per_target": [
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "replay_per_transition": 1,
      "success": 0.98,
      "success_first50": 1.0
     },
     "random": {
      "decisions": 200.0,
      "final_distance": 0.8176115101460022,
      "mode": "adapting",
      "per_target": [
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0,
       0.0
      ],
      "success": 0.0,
      "success_first50": 0.0
     },
     "shuffled_pairing": {
      "babbling_model_mse": {
       "d_angles": 0.0003849659634878662,
       "d_velocity": 0.007016372118400853,
       "dd_hand": 1.5448210854852582e-05
      },
      "decisions": 69.53,
      "final_distance": 0.04188544586230222,
      "mode": "adapting",
      "per_target": [
       0.0,
       1.0,
       0.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       0.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0,
       1.0
      ],
      "success": 0.95,
      "success_first50": 0.86
     }
    },
    "copier": {
     "approach_decisions": 50,
     "per_family": {
      "circle": 0.04740436132523697,
      "combination": 0.055318786363313444,
      "line": 0.0737063172574826
     },
     "rmse": 0.058879642354384955
    },
    "curve": [
     {
      "decisions": 1000,
      "success": 0.125
     },
     {
      "decisions": 2000,
      "success": 0.35
     },
     {
      "decisions": 3000,
      "success": 0.2
     },
     {
      "decisions": 4000,
      "success": 0.375
     },
     {
      "decisions": 5000,
      "success": 0.275
     },
     {
      "decisions": 6000,
      "success": 0.625
     },
     {
      "decisions": 7000,
      "success": 0.8
     },
     {
      "decisions": 8000,
      "success": 0.825
     },
     {
      "decisions": 9000,
      "success": 0.925
     },
     {
      "decisions": 10000,
      "success": 0.95
     },
     {
      "decisions": 11000,
      "success": 0.95
     },
     {
      "decisions": 12000,
      "success": 0.975
     },
     {
      "decisions": 13000,
      "success": 0.9
     },
     {
      "decisions": 14000,
      "success": 1.0
     },
     {
      "decisions": 15000,
      "success": 0.975
     }
    ],
    "events": {
     "events": 105671,
     "path": "events_seed14.jsonl",
     "sha256": "e15565f0342f8c45b0513dafcc1a6c46d9ba7d74af8e028f06b784ad49ba561c"
    },
    "heldout": {
     "decisions": 53.365,
     "final_distance": 0.025180926596020205,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.985,
     "success_first50": 0.98
    },
    "heldout_frozen": {
     "decisions": 57.8,
     "final_distance": 0.05023199824005555,
     "mode": "frozen",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.96,
     "success_first50": 0.96
    },
    "latency_ms": {
     "events": 334698,
     "p50": 1.0370079999120208,
     "p95": 12.874973300949932
    },
    "ledger": {
     "clipped_deltas": 0,
     "deltas": 19999,
     "episodic_writes": 0,
     "imagined": 363204,
     "max_residual": {
      "bootstrap": 9.122591727583895e-07,
      "free": 9.99982478822048e-07
     },
     "mean_steps": {
      "bootstrap": 75.25925925925925,
      "free": 66.94302767227347
     },
     "phases": {
      "bootstrap": 27,
      "free": 20273
     },
     "real_transitions": 19999,
     "record_writes": 59997,
     "rejected_updates": 0,
     "replay_writes": 0,
     "unconverged_phases": {}
    },
    "parameters": {
     "critic_parameters": 65,
     "directed_synapses": 19520,
     "eligibility_numbers": 19839,
     "episodic_parameters": 0,
     "motor_parameters": 585,
     "neurons": 254,
     "optimizer_numbers": 79096,
     "record_parameters": 192000,
     "world_parameters": 14022
    },
    "reaching_training": {
     "episodes": 157,
     "success_last20": 1.0
    },
    "returned_body": {
     "decisions": 52.6,
     "final_distance": 0.025531401908317698,
     "mode": "adapting",
     "per_target": [
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      0.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
     ],
     "success": 0.985,
     "success_first50": 0.98
    },
    "seed": 14,
    "split": "acceptance",
    "wall_seconds": 2796.6922109127045
   }
  ],
  "returned_body_success": [
   0.995,
   0.99,
   0.99,
   0.995,
   0.985
  ]
 },
 "numerics": {
  "ledger": [
   {
    "clipped_deltas": 0,
    "deltas": 19999,
    "episodic_writes": 0,
    "imagined": 364284,
    "max_residual": {
     "bootstrap": 9.390138593357023e-07,
     "free": 9.999729182752493e-07
    },
    "mean_steps": {
     "bootstrap": 66.46153846153847,
     "free": 60.796999901312546
    },
    "phases": {
     "bootstrap": 26,
     "free": 20266
    },
    "real_transitions": 19999,
    "record_writes": 59997,
    "rejected_updates": 0,
    "replay_writes": 0,
    "unconverged_phases": {}
   },
   {
    "clipped_deltas": 0,
    "deltas": 19999,
    "episodic_writes": 0,
    "imagined": 363258,
    "max_residual": {
     "bootstrap": 8.15253130587168e-07,
     "free": 9.99943348622967e-07
    },
    "mean_steps": {
     "bootstrap": 68.96551724137932,
     "free": 62.566563009033025
    },
    "phases": {
     "bootstrap": 29,
     "free": 20259
    },
    "real_transitions": 19999,
    "record_writes": 59997,
    "rejected_updates": 0,
    "replay_writes": 0,
    "unconverged_phases": {}
   },
   {
    "clipped_deltas": 0,
    "deltas": 19999,
    "episodic_writes": 0,
    "imagined": 364473,
    "max_residual": {
     "bootstrap": 9.331701714687668e-07,
     "free": 9.99570486076573e-07
    },
    "mean_steps": {
     "bootstrap": 78.4,
     "free": 63.84678414531813
    },
    "phases": {
     "bootstrap": 30,
     "free": 20259
    },
    "real_transitions": 19999,
    "record_writes": 59997,
    "rejected_updates": 0,
    "replay_writes": 0,
    "unconverged_phases": {}
   },
   {
    "clipped_deltas": 0,
    "deltas": 19999,
    "episodic_writes": 0,
    "imagined": 365121,
    "max_residual": {
     "bootstrap": 9.795126060252457e-07,
     "free": 9.997884897749998e-07
    },
    "mean_steps": {
     "bootstrap": 81.03225806451613,
     "free": 73.2218655868846
    },
    "phases": {
     "bootstrap": 31,
     "free": 20251
    },
    "real_transitions": 19999,
    "record_writes": 59997,
    "rejected_updates": 0,
    "replay_writes": 0,
    "unconverged_phases": {}
   },
   {
    "clipped_deltas": 0,
    "deltas": 19999,
    "episodic_writes": 0,
    "imagined": 363204,
    "max_residual": {
     "bootstrap": 9.122591727583895e-07,
     "free": 9.99982478822048e-07
    },
    "mean_steps": {
     "bootstrap": 75.25925925925925,
     "free": 66.94302767227347
    },
    "phases": {
     "bootstrap": 27,
     "free": 20273
    },
    "real_transitions": 19999,
    "record_writes": 59997,
    "rejected_updates": 0,
    "replay_writes": 0,
    "unconverged_phases": {}
   }
  ]
 },
 "receipt_sha256": "c12e706fa69bd4b0c60442605a987449128330faad5c88e8016ed3bf8f21cdf2",
 "resources": {
  "latency_ms": [
   {
    "events": 336242,
    "p50": 1.042990000314603,
    "p95": 12.608298999566614
   },
   {
    "events": 336930,
    "p50": 1.0487614999874495,
    "p95": 12.6064591994691
   },
   {
    "events": 339011,
    "p50": 1.2052019992552232,
    "p95": 12.180236000858713
   },
   {
    "events": 340509,
    "p50": 1.6077370000857627,
    "p95": 12.51278380077565
   },
   {
    "events": 334698,
    "p50": 1.0370079999120208,
    "p95": 12.874973300949932
   }
  ],
  "mlp_parameters": 2182,
  "parameters": {
   "critic_parameters": 65,
   "directed_synapses": 19520,
   "eligibility_numbers": 19839,
   "episodic_parameters": 0,
   "motor_parameters": 585,
   "neurons": 254,
   "optimizer_numbers": 79096,
   "record_parameters": 192000,
   "world_parameters": 14022
  },
  "peak_rss_mb": 105.36328125,
  "wall_seconds": 2848.6086027622223
 },
 "run_id": "S01-acceptance-20260915T123842Z",
 "schema": "cadence-experience-run/v1",
 "seeds": {
  "completed": [
   10,
   11,
   12,
   13,
   14
  ],
  "failed": [],
  "scheduled": [
   10,
   11,
   12,
   13,
   14
  ],
  "split": "acceptance"
 },
 "sources": {
  "core": {
   "files_sha256": "a5eab811a68ea73ec77ef8875a3a082f09c059c7d9b16bad17a12e8300e8a7a9",
   "repo": {
    "commit": "21a120311e9817e817499318f8125896cd19534d",
    "dirty": {}
   },
   "version": "0.9.0"
  },
  "machine": "x86_64",
  "numpy": "2.4.6",
  "platform": "Linux-6.18.44-99.149.amzn2023.x86_64-x86_64-with-glibc2.34",
  "python": "3.11.16 (main, Aug 24 2026, 00:00:00) [GCC 11.5.0 20240719 (Red Hat 11.5.0-5)]",
  "stage_dir": "arm",
  "stage_files": {
   "__init__.py": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
   "brain.py": "55b8bedb6a5501df321329700dd10f54211253545228481b8b82ee7aef50c9b0",
   "config.json": "da115d9aebbfee4699d4281cf1747de930b16508234dc8adc5346e70268ad309",
   "env.py": "ea6abad82794e2a51b900dac0c78e12fd312ddbcef1ec7e70d6b5e255e1a4d1b",
   "run.py": "b4b917e59f1cee5aea891dc71addb911e5b4d2397b2191ecc50e838b2c3a6709",
   "verify.py": "4bcf7d423aeb41113222583ffee9c4aac33d5352ed5974d8acff121eaf18f6ce"
  },
  "stage_repo": {
   "commit": "559c716892f17e2d267ba5e1ee5f1243a2725672",
   "dirty": {}
  }
 },
 "stage": "S01",
 "started_utc": "2026-09-15T12:38:42Z",
 "status": "complete",
 "supplied_components": [
  "arm dynamics, forward kinematics for sensors and rendering, reward rule",
  "sensor encoding and bounds",
  "velocity-field planning objective and beam search over the learned model",
  "replay ring schedule",
  "settling schedule and rejection guards"
 ]
}