{
  "model_type": "Folded Equilibrium Neural Manifold (FENM) 3D",
  "version": "3.0-Lagrangian-Spatial",
  "architecture": {
    "input_dim": 24,
    "hidden_dim": 128,
    "output_dim": 12,
    "num_micro_chunks": 16,
    "equilibrium_steps": 4,
    "active_memory_kb": 4.0,
    "precision": "Float32-Full-Precision",
    "degrees_of_freedom": "3D Multi-Axis (Pitch & Roll Coupled)"
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  "sensory_channels": [
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    "theta_ank_r",
    "theta_kne_l",
    "theta_kne_r",
    "theta_hip_l",
    "theta_hip_r",
    "theta_trunk_pitch",
    "theta_ank_roll",
    "theta_hip_roll",
    "theta_trunk_roll",
    "omega_ank_l",
    "omega_ank_r",
    "omega_kne_l",
    "omega_kne_r",
    "omega_hip_l",
    "omega_hip_r",
    "omega_trunk_pitch",
    "omega_ank_roll",
    "omega_hip_roll",
    "omega_trunk_roll",
    "com_x",
    "com_y",
    "com_z",
    "perturbation_push"
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  "motor_actuators": [
    "Tibialis_L",
    "Gastrocnemius_L",
    "Quads_L",
    "Hamstrings_L",
    "Iliopsoas_L",
    "Gluteus_L",
    "Tibialis_R",
    "Gastrocnemius_R",
    "Quads_R",
    "Hamstrings_R",
    "Iliopsoas_R",
    "Gluteus_R"
  ],
  "lyapunov_stability": {
    "exponent_lambda": -1.82,
    "status": "Asymptotically Stable (3D Phase Contraction)",
    "spectral_radius": 0.88
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