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Allred, J. Pusey and M. Harper, Detecting ballistic motions in quadruped robots: A BTMC for understanding reinforcement learning, in 7th IEEE Int. Conf. Robotic Computing (IEEE, 2023)], this journal extension expands the study by incorporating multivariate motif analysis, additional machine learning models, and a more comprehensive evaluation of reinforcement learning dynamics. BTMC achieves 96% precision, effectively identifying complex motion patterns during training. Through experiments at multiple levels of from individual motors to full robotic actuation, BTMC consistently outperforms traditional techniques in accuracy. 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