{
  "label": "Independent explanatory experiments, NOT a SuperMimic reproduction",
  "execution": {
    "host": "SYS-5049A-TR",
    "python": "3.10.12",
    "mujoco": "3.17.0",
    "physics_device": "CPU",
    "renderer": "egl",
    "label": "Independent explanatory experiment; not SuperMimic reproduction"
  },
  "pendulum": {
    "training_transitions": 5000,
    "horizon": 32,
    "seed": 20261112,
    "optimization_steps": 240,
    "initial_model_objective": 92.14590860006338,
    "final_model_objective": 30.215042171180027
  },
  "g1": {
    "method": "Synthetic arm reference / plain PD, NOT SuperMimic",
    "model_sha256": "e254f11acce2ec6f6efa5bf9b15e288bbd0ca29aeeabb1e1d0fea92f65436bbf",
    "runs": [
      {
        "id": "reference",
        "physics": false,
        "minimum_base_height_m": 0.79
      },
      {
        "id": "pd_slow",
        "physics": true,
        "minimum_base_height_m": 0.08379266724837588
      },
      {
        "id": "pd_fast",
        "physics": true,
        "minimum_base_height_m": 0.08561311033506948
      },
      {
        "id": "pd_push",
        "physics": true,
        "minimum_base_height_m": 0.08379266724837588
      },
      {
        "id": "pd_soft",
        "physics": true,
        "minimum_base_height_m": 0.07319045576655887
      },
      {
        "id": "pd_side",
        "physics": true,
        "minimum_base_height_m": 0.08379266724837588
      }
    ],
    "model_repository": "https://github.com/unitreerobotics/unitree_mujoco",
    "model_repository_revision": "1eb6642e3f3fdfb7fb13a9794fd6a2dd93ea0e7d"
  },
  "media_sha256": {
    "g1-pd_slow.mp4": "56f9a7b7558ccedaa8f566e8e7097918d1eb9617abe6c43df1bade48cc5b2981",
    "pendulum-changed_damping.mp4": "a12ca3542f0ff1d64bb8b93639cf876fee671e331ea626b8f3ebd9c9866e92a4",
    "g1-reference.mp4": "cf042cb53047d738f2d07f87f0a472eefe4cc10fb1898037db551d403644c9d5",
    "g1-pd_push.mp4": "e52ca65f193c28a7d987a788637de68dd3815f33dd6cae6ef377519213c4540e",
    "pendulum-optimized.mp4": "29ec1829a083366cc1aeb6a1fb4404345789f871db22f7aa658f4005e0fa5993"
  },
  "experiment_script_sha256": "7cdd9269c75f458c5a4bc6cf4b44543d921e790b8fb0826d95e3fcbcc611dccb"
}
