{
  "version": "v10_robot",
  "domain": "ur5e_robot_joint",
  "task": "rul_regression",
  "badge": "VALIDATED",
  "n_features": 14,
  "d_model": 64,
  "feature_cols": [
    "j1_vel",
    "j2_vel",
    "j3_vel",
    "j4_vel",
    "j5_vel",
    "j6_vel",
    "j1_trq",
    "j2_trq",
    "j3_trq",
    "j4_trq",
    "j5_trq",
    "j6_trq",
    "payload_norm",
    "speed_norm"
  ],
  "rul_cap": 300,
  "window_size": 30,
  "n_conditions": 2,
  "conditions": [
    {
      "condition_id": 0,
      "payload_norm": 0.2,
      "speed_norm": 0.3
    },
    {
      "condition_id": 1,
      "payload_norm": 0.8,
      "speed_norm": 0.8
    }
  ],
  "backbone_checkpoint": "tft_best_v9c.pt",
  "backbone_frozen": true,
  "dataset": "ur5e_degradation.parquet",
  "dataset_repo": "narteybrown/twinnable-weights",
  "dataset_path": "data/synthetic/ur5e_degradation.parquet",
  "n_training_runs": 86,
  "n_val_runs": 22,
  "total_dataset_rows": 32400,
  "fault_modes": [
    "friction",
    "backlash",
    "stiffness"
  ],
  "severities": [
    2.0,
    5.0,
    10.0
  ],
  "physics_engine": "MuJoCo 3.4.0",
  "mjcf_source": "MuJoCo Menagerie UR5e (BSD-3-Clause)",
  "results": {
    "best_epoch": 78,
    "val_loss": 0.0003727209164375941,
    "rmse_cycles": 5.812502861022949,
    "nrmse": 0.019375009536743162,
    "r2": 0.9954952597618103
  }
}