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        "source_sha256": {
          "learned_choice.py": "d9491e74b71efda8e789fcbebe38c251ebf04e3cf2df1365e8f58c110e995cbb",
          "calibrate.py": "fd42f6fa46c83658c81f09f38881dc2c985124406603aad8d27c3010e52b5154"
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        "environment": {
          "python": "3.12.14",
          "platform": "Windows-11-10.0.26200-SP0",
          "versions": {
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            "mujoco": "3.9.0",
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            "numba": "0.67.0"
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        "physics_seed": 17,
        "simulation_seconds": 1.0,
        "video": false
      },
      "physical": {
        "label": "reward-000900-cue1",
        "seed": 17,
        "descending_signal": [
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          1.2
        ],
        "simulation_seconds": 1.0,
        "physics_steps": 10000,
        "timestep_seconds": 0.0001,
        "recorded_samples": 1001,
        "actuated_joint_dofs": 42,
        "displacement_mm": [
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        "yaw_change_rad": 2.8108133339645214,
        "minimum_thorax_height_mm": 0.7417776048581377,
        "minimum_thorax_up_z": 0.9818478233820102,
        "mean_contact_count": 6.501498501498501,
        "wall_seconds": 10.873482499970123,
        "includes_rendering": false,
        "trajectory_sha256": "002e9d257bde881ecbf218107738859667362c7a5b75817023694c5f1e62a348"
      },
      "neural_choice_correct": false,
      "actual_heading_sign": 1
    }
  ],
  "model": "256-neuron FLM choice network, trained on synthetic cue episodes; no language weights",
  "coupling": "A recorded learned action selects the descending command for a designed hybrid gait controller; every case is simulated separately",
  "flm_connected_at_action_selection": true,
  "proprioceptive_feedback_to_flm": false,
  "learned_gait": false,
  "caution": "A learned high-level direction changes the physical trajectory. The same two descending commands and initial state can reproduce identical paths across many cases. These are not forty independent motor skills or language-to-body transfer."
}