File size: 66,673 Bytes

level,task,embodiment,step,success_rate,successes,episodes,return_mean,episode_seed_base,checkpoint,campaign
level2_rigid,HangMug-v1,rigid_body/single_arm_gripper,50000,0.62,31,50,29.45346,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,PivotBook-v1,rigid_body/single_arm_gripper,50000,0.04,2,50,185.57872000000003,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,OpenBoxRetrieval-v1,rigid_body/single_arm_gripper,50000,0.02,1,50,180.47969999999998,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,KitAssembly-v1,rigid_body/single_arm_gripper,50000,0.06,3,50,342.5,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,GraspTwoBlocks-v1,rigid_body/single_arm_dex,50000,0.56,28,50,222.97526,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,ReorientPen-v1,rigid_body/single_arm_dex,50000,0.4,20,50,98.3238,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,DexOpenDoor-v1,rigid_body/single_arm_dex,50000,0.38,19,50,383.57285999999993,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,HammerNailOut-v1,rigid_body/single_arm_dex,50000,0.08,4,50,-31.14895999999999,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,DualArmLiftBall-v1,rigid_body/dual_arm_gripper,50000,0.2,10,50,25.69026000000001,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,DualArmBookPickPlace-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,759.46292,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,DualArmPegInHole-v1,rigid_body/dual_arm_gripper,50000,0.1,5,50,54.31842000000002,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,DualArmCleanupPotEnv-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,348.3684799999999,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,DualArmOpenLaptop-v1,rigid_body/dual_arm_dex,50000,0.04,2,50,1606.3234400000001,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,DualArmThrowBlock-v1,rigid_body/dual_arm_dex,50000,0.22,11,50,2226.29098,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,DualArmJugglingBall-v1,rigid_body/dual_arm_dex,50000,0.04,2,50,-4901.14318,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_rigid,DualArmOpenBottle-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,2164.84324,1000,multi_task/level2_rigid/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_deformable,FoldShirt-v1,deformable/single_arm_gripper,50000,0.22,11,50,81.40873999999998,1000,multi_task/level2_deformable/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_deformable,ScoopWater-v1,deformable/single_arm_gripper,50000,0.26,13,50,-43.27561999999999,1000,multi_task/level2_deformable/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_deformable,StraightenTwoRopesSequential-v1,deformable/single_arm_gripper,50000,0.08,4,50,2132.2106400000002,1000,multi_task/level2_deformable/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_deformable,ClothWipe-v1,deformable/single_arm_dex,50000,0.24,12,50,380.15003999999993,1000,multi_task/level2_deformable/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_deformable,RollingPin-v1,deformable/single_arm_dex,50000,0.18,9,50,271.01066,1000,multi_task/level2_deformable/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_deformable,RopeBridgeDex-v1,deformable/single_arm_dex,50000,0.22,11,50,344.1871800000001,1000,multi_task/level2_deformable/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_deformable,DualArmClothAlign-v1,deformable/dual_arm_gripper,50000,0.3,15,50,27.649860000000004,1000,multi_task/level2_deformable/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_deformable,DualArmPushObject-v1,deformable/dual_arm_gripper,50000,0.0,0,50,0.0,1000,multi_task/level2_deformable/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_deformable,DualArmStraightenRope-v1,deformable/dual_arm_gripper,50000,0.1,5,50,85.05759999999998,1000,multi_task/level2_deformable/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_deformable,DualArmPlaceRopeOverRod-v1,deformable/dual_arm_dex,50000,0.12,6,50,332.2409,1000,multi_task/level2_deformable/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_deformable,DualArmStuffCloth-v1,deformable/dual_arm_dex,50000,0.28,14,50,16.82734,1000,multi_task/level2_deformable/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_deformable,DualArmPouringTwoCups-v1,deformable/dual_arm_dex,50000,0.0,0,50,2610.06726,1000,multi_task/level2_deformable/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,HangMug-v1,rigid_body/single_arm_gripper,50000,0.46,23,50,17.7855,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,PivotBook-v1,rigid_body/single_arm_gripper,50000,0.18,9,50,236.3131600000001,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,OpenBoxRetrieval-v1,rigid_body/single_arm_gripper,50000,0.04,2,50,173.10387999999995,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,KitAssembly-v1,rigid_body/single_arm_gripper,50000,0.06,3,50,298.645,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,FoldShirt-v1,deformable/single_arm_gripper,50000,0.5,25,50,144.72065999999998,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,ScoopWater-v1,deformable/single_arm_gripper,50000,0.0,0,50,-4.80142,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,StraightenTwoRopesSequential-v1,deformable/single_arm_gripper,50000,0.08,4,50,2095.1472199999994,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,GraspTwoBlocks-v1,rigid_body/single_arm_dex,50000,0.7,35,50,196.48832000000002,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,ReorientPen-v1,rigid_body/single_arm_dex,50000,0.16,8,50,113.77316,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,DexOpenDoor-v1,rigid_body/single_arm_dex,50000,0.18,9,50,302.11635999999993,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,HammerNailOut-v1,rigid_body/single_arm_dex,50000,0.34,17,50,-26.519540000000003,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,ClothWipe-v1,deformable/single_arm_dex,50000,0.18,9,50,363.9603600000001,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,RollingPin-v1,deformable/single_arm_dex,50000,0.1,5,50,277.29405999999994,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_single_arm,RopeBridgeDex-v1,deformable/single_arm_dex,50000,0.4,20,50,291.27295999999996,1000,multi_task/level2_single_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmLiftBall-v1,rigid_body/dual_arm_gripper,50000,0.28,14,50,31.4384,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmBookPickPlace-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,536.0200600000001,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmPegInHole-v1,rigid_body/dual_arm_gripper,50000,0.08,4,50,45.02074,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmCleanupPotEnv-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,144.15777999999997,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmClothAlign-v1,deformable/dual_arm_gripper,50000,0.26,13,50,24.618180000000002,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmPushObject-v1,deformable/dual_arm_gripper,50000,0.0,0,50,0.04298,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmStraightenRope-v1,deformable/dual_arm_gripper,50000,0.2,10,50,51.66449999999999,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmOpenLaptop-v1,rigid_body/dual_arm_dex,50000,0.14,7,50,1533.2114400000005,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmThrowBlock-v1,rigid_body/dual_arm_dex,50000,0.32,16,50,2062.5982,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmJugglingBall-v1,rigid_body/dual_arm_dex,50000,0.12,6,50,-4807.480519999998,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmOpenBottle-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,2186.440520000001,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmPlaceRopeOverRod-v1,deformable/dual_arm_dex,50000,0.16,8,50,268.38523999999995,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmStuffCloth-v1,deformable/dual_arm_dex,50000,0.12,6,50,30.693659999999994,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dual_arm,DualArmPouringTwoCups-v1,deformable/dual_arm_dex,50000,0.0,0,50,2262.00242,1000,multi_task/level2_dual_arm/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,HangMug-v1,rigid_body/single_arm_gripper,50000,0.5,25,50,18.965799999999998,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,PivotBook-v1,rigid_body/single_arm_gripper,50000,0.16,8,50,166.12356,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,OpenBoxRetrieval-v1,rigid_body/single_arm_gripper,50000,0.04,2,50,199.32865999999996,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,KitAssembly-v1,rigid_body/single_arm_gripper,50000,0.0,0,50,221.42,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,FoldShirt-v1,deformable/single_arm_gripper,50000,0.62,31,50,139.50567999999998,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,ScoopWater-v1,deformable/single_arm_gripper,50000,0.0,0,50,-6.22558,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,StraightenTwoRopesSequential-v1,deformable/single_arm_gripper,50000,0.04,2,50,2262.5647400000003,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,DualArmLiftBall-v1,rigid_body/dual_arm_gripper,50000,0.16,8,50,30.405540000000006,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,DualArmBookPickPlace-v1,rigid_body/dual_arm_gripper,50000,0.16,8,50,651.2786199999998,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,DualArmPegInHole-v1,rigid_body/dual_arm_gripper,50000,0.16,8,50,40.740300000000005,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,DualArmCleanupPotEnv-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,420.24263999999994,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,DualArmClothAlign-v1,deformable/dual_arm_gripper,50000,0.34,17,50,28.680160000000004,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,DualArmPushObject-v1,deformable/dual_arm_gripper,50000,0.04,2,50,3.1547800000000006,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_gripper,DualArmStraightenRope-v1,deformable/dual_arm_gripper,50000,0.1,5,50,86.06981999999999,1000,multi_task/level2_gripper/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,GraspTwoBlocks-v1,rigid_body/single_arm_dex,50000,0.64,32,50,213.11556000000002,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,ReorientPen-v1,rigid_body/single_arm_dex,50000,0.26,13,50,107.33642,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,DexOpenDoor-v1,rigid_body/single_arm_dex,50000,0.26,13,50,336.71574000000015,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,HammerNailOut-v1,rigid_body/single_arm_dex,50000,0.22,11,50,90.09622000000002,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,ClothWipe-v1,deformable/single_arm_dex,50000,0.1,5,50,385.02892000000014,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,RollingPin-v1,deformable/single_arm_dex,50000,0.2,10,50,271.1742999999999,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,RopeBridgeDex-v1,deformable/single_arm_dex,50000,0.16,8,50,308.84354,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,DualArmOpenLaptop-v1,rigid_body/dual_arm_dex,50000,0.08,4,50,1571.8813399999997,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,DualArmThrowBlock-v1,rigid_body/dual_arm_dex,50000,0.2,10,50,2143.21196,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,DualArmJugglingBall-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,-5159.3756,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,DualArmOpenBottle-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,2093.2040599999996,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,DualArmPlaceRopeOverRod-v1,deformable/dual_arm_dex,50000,0.58,29,50,368.10752,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,DualArmStuffCloth-v1,deformable/dual_arm_dex,50000,0.24,12,50,28.31748000000001,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level2_dexterous,DualArmPouringTwoCups-v1,deformable/dual_arm_dex,50000,0.0,0,50,2654.445779999999,1000,multi_task/level2_dexterous/lora_step_0050000.npz,pi05_lv2sub_20261029
level_1,DrapeCloth-v1,deformable/single_arm_dex,80000,0.96,48,50,8.39592,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmButtonPress-v1,rigid_body/dual_arm_gripper,80000,0.9,45,50,118.0342,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmCoverCloth-v1,deformable/dual_arm_dex,80000,0.24,12,50,198.41704000000001,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmDoubleDoorBox-v1,rigid_body/dual_arm_gripper,80000,0.7,35,50,77.11922,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmFoldHandKerchief-v1,deformable/dual_arm_gripper,80000,0.6,30,50,-9.85732,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmHammerHandover-v1,rigid_body/dual_arm_gripper,80000,0.24,12,50,358.47458,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmLiftSoftDex-v1,deformable/dual_arm_dex,80000,1.0,50,50,127.94382,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmOpenPen-v1,rigid_body/dual_arm_dex,80000,0.3,15,50,904.7209799999999,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmOpenScissor-v1,rigid_body/dual_arm_dex,80000,0.98,49,50,245.00475999999998,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmPouringWater-v1,deformable/dual_arm_gripper,80000,0.72,36,50,142.6494,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmPressButton-v1,rigid_body/dual_arm_dex,80000,0.38,19,50,179.40556,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmPushBox-v1,rigid_body/dual_arm_gripper,80000,0.6,30,50,43.167139999999996,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmRopeCylinderWarpping-v1,deformable/dual_arm_gripper,80000,0.66,33,50,88.41546,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmRopeStretch-v1,deformable/dual_arm_dex,80000,0.48,24,50,233.87707999999998,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,DualArmSwingCup-v1,rigid_body/dual_arm_dex,80000,0.42,21,50,191.12506000000002,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,GraspCylinder-v1,rigid_body/single_arm_dex,80000,0.86,43,50,23.40544,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,LiftBucket-v1,rigid_body/single_arm_dex,80000,0.54,27,50,133.14442,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,OpenDoor-v1,rigid_body/single_arm_gripper,80000,0.12,6,50,41.798320000000004,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,PickPlacePen-v1,rigid_body/single_arm_gripper,80000,0.34,17,50,45.98866,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,PushSoccer-v1,rigid_body/single_arm_gripper,80000,0.6,30,50,67.01078000000001,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,ReorientCube-v1,rigid_body/single_arm_dex,80000,0.84,42,50,32246.19264,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,RopePalmCageHoldDex-v1,deformable/single_arm_dex,80000,0.92,46,50,60.815259999999995,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,ShapeTToI-v1,deformable/single_arm_gripper,80000,0.1,5,50,-78.61582,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,SqueezeClay-v1,deformable/single_arm_dex,80000,0.4,20,50,704.1522,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,StackBlock-v1,rigid_body/single_arm_gripper,80000,0.54,27,50,61.804179999999995,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,StraightenRope-v1,deformable/single_arm_gripper,80000,0.66,33,50,209.27102,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,TurnOnFaucet-v1,rigid_body/single_arm_dex,80000,0.84,42,50,14.59942,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_1,UnfoldShirt-v1,deformable/single_arm_gripper,80000,0.28,14,50,0.9190600000000001,1000,multi_task/level_1/lora_step_0080000.npz,pi05_levels_20261028
level_2,ClothWipe-v1,deformable/single_arm_dex,80000,0.24,12,50,290.20684,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DexOpenDoor-v1,rigid_body/single_arm_dex,80000,0.28,14,50,325.17524000000003,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmBookPickPlace-v1,rigid_body/dual_arm_gripper,80000,0.0,0,50,575.62944,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmCleanupPotEnv-v1,rigid_body/dual_arm_gripper,80000,0.0,0,50,99.78744,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmClothAlign-v1,deformable/dual_arm_gripper,80000,0.5,25,50,27.72722,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmJugglingBall-v1,rigid_body/dual_arm_dex,80000,0.0,0,50,-5060.75764,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmLiftBall-v1,rigid_body/dual_arm_gripper,80000,0.36,18,50,30.12464,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmOpenBottle-v1,rigid_body/dual_arm_dex,80000,0.0,0,50,2124.39504,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmOpenLaptop-v1,rigid_body/dual_arm_dex,80000,0.34,17,50,1389.98766,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmPegInHole-v1,rigid_body/dual_arm_gripper,80000,0.18,9,50,62.280640000000005,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmPlaceRopeOverRod-v1,deformable/dual_arm_dex,80000,0.48,24,50,332.42735999999996,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmPouringTwoCups-v1,deformable/dual_arm_dex,80000,0.0,0,50,1920.35364,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmPushObject-v1,deformable/dual_arm_gripper,80000,0.0,0,50,0.04186,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmStraightenRope-v1,deformable/dual_arm_gripper,80000,0.24,12,50,77.2212,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmStuffCloth-v1,deformable/dual_arm_dex,80000,0.44,22,50,34.17728,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,DualArmThrowBlock-v1,rigid_body/dual_arm_dex,80000,0.2,10,50,2159.683,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,FoldShirt-v1,deformable/single_arm_gripper,80000,0.62,31,50,189.38598,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,GraspTwoBlocks-v1,rigid_body/single_arm_dex,80000,0.56,28,50,226.9707,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,HammerNailOut-v1,rigid_body/single_arm_dex,80000,0.32,16,50,-24.495720000000002,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,HangMug-v1,rigid_body/single_arm_gripper,80000,0.42,21,50,19.1683,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,KitAssembly-v1,rigid_body/single_arm_gripper,80000,0.0,0,50,192.14,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,OpenBoxRetrieval-v1,rigid_body/single_arm_gripper,80000,0.04,2,50,187.55988000000002,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,PivotBook-v1,rigid_body/single_arm_gripper,80000,0.16,8,50,179.89354,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,ReorientPen-v1,rigid_body/single_arm_dex,80000,0.3,15,50,111.66706,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,RollingPin-v1,deformable/single_arm_dex,80000,0.38,19,50,245.92406,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,RopeBridgeDex-v1,deformable/single_arm_dex,80000,0.32,16,50,314.65782,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,ScoopWater-v1,deformable/single_arm_gripper,80000,0.26,13,50,-49.51626,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_2,StraightenTwoRopesSequential-v1,deformable/single_arm_gripper,80000,0.12,6,50,2140.54834,1000,multi_task/level_2/lora_step_0080000.npz,pi05_levels_20261028
level_3,ClutterGrasp-v1,rigid_body/single_arm_dex,80000,0.04,2,50,nan,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmAssembleBracket-v1,rigid_body/dual_arm_gripper,80000,0.0,0,50,25.42692,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmFoldCarton-v1,rigid_body/dual_arm_gripper,80000,0.0,0,50,6295.6837,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmLayerClayInDish-v1,deformable/dual_arm_dex,80000,0.0,0,50,481.77495999999996,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmMakeLine-v1,rigid_body/dual_arm_dex,80000,0.0,0,50,10566.17234,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmOpenFridge-v1,rigid_body/dual_arm_gripper,80000,0.0,0,50,1425.1551000000002,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmOrganizeCabinet-v1,rigid_body/dual_arm_gripper,80000,0.0,0,50,1281.50874,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmPingpongBalance-v1,rigid_body/dual_arm_dex,80000,0.0,0,50,114.5293,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmPlugCharger-v1,rigid_body/dual_arm_dex,80000,0.0,0,50,34.36598,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmSetupTable-v1,rigid_body/dual_arm_dex,80000,0.0,0,50,739.85418,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmShapeDoll-v1,deformable/dual_arm_gripper,80000,0.0,0,50,410.52052000000003,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmThreadCloth-v1,deformable/dual_arm_dex,80000,0.04,2,50,103.5819,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmThreadRopeThroughTube-v1,deformable/dual_arm_gripper,80000,0.0,0,50,1.18342,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmThreading-v1,deformable/dual_arm_dex,80000,0.0,0,50,211.09184000000002,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,DualArmWeaveCloth-v1,deformable/dual_arm_gripper,80000,0.0,0,50,28.101260000000003,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,GroceryPrepare-v1,rigid_body/single_arm_gripper,80000,0.0,0,50,2074.76814,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,HammerNail-v1,rigid_body/single_arm_dex,80000,0.0,0,50,-70.39844,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,HitBox-v1,deformable/single_arm_dex,80000,0.0,0,50,349.82928,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,LiquidMeasuring-v1,deformable/single_arm_gripper,80000,0.0,0,50,nan,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,MazeBlockPush-v1,rigid_body/single_arm_gripper,80000,0.0,0,50,-690.33772,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,MobilePickPlace-v1,rigid_body/single_arm_dex,80000,0.0,0,50,38.18522,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,PressFitSoftPeg-v1,deformable/single_arm_dex,80000,0.0,0,50,451.49809999999997,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,PushTargetPose-v1,rigid_body/single_arm_gripper,80000,0.0,0,50,-449.60949999999997,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,SeparateTwoRopesEnv-v1,deformable/single_arm_gripper,80000,0.06,3,50,3958.67206,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,Stack6Blocks-v1,rigid_body/single_arm_gripper,80000,0.0,0,50,1420.44704,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_3,TweezersPickPlace-v1,rigid_body/single_arm_dex,80000,0.0,0,50,-130.1295,1000,multi_task/level_3/lora_step_0080000.npz,pi05_levels_20261028
level_4,BuildTent-v1,deformable/single_arm_gripper,80000,0.0,0,50,0.04,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,ClaySealStamp-v1,deformable/single_arm_dex,80000,0.0,0,50,89.46718000000001,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,CoverPattern-v1,deformable/single_arm_dex,80000,0.0,0,50,549.43136,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmBallClassify-v1,rigid_body/dual_arm_gripper,80000,0.0,0,50,1688.65348,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmBilliardBridge-v1,rigid_body/dual_arm_gripper,80000,0.0,0,50,1084.50792,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmClothCylinderWipe-v1,deformable/dual_arm_dex,80000,0.02,1,50,-0.74712,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmClothHanger-v1,deformable/dual_arm_gripper,80000,0.0,0,50,73.90729999999999,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmFlipTable-v1,rigid_body/dual_arm_dex,80000,0.0,0,50,552.37284,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmJumpRope-v1,deformable/dual_arm_dex,80000,0.0,0,50,nan,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmKeyboardType-v1,rigid_body/dual_arm_dex,80000,0.0,0,50,-193.33790000000002,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmLiquidMixing-v1,deformable/dual_arm_dex,80000,0.0,0,50,162.88837999999998,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmMahjongSetup-v1,rigid_body/dual_arm_gripper,80000,0.0,0,50,nan,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmRubikCube-v1,rigid_body/dual_arm_gripper,80000,0.0,0,50,1809.88246,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmSandShovel-v1,deformable/dual_arm_gripper,80000,0.0,0,50,0.024,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmSendPingpong-v1,rigid_body/dual_arm_dex,80000,0.0,0,50,507.64762,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmShootBasketball-v1,rigid_body/dual_arm_dex,80000,0.0,0,50,-124.7412,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,DualArmWallRings-v1,deformable/dual_arm_gripper,80000,0.0,0,50,138.77768,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,FitnessBall-v1,rigid_body/single_arm_dex,80000,0.0,0,50,-6592.71306,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,FlipPan-v1,rigid_body/single_arm_gripper,80000,0.0,0,50,1328.2056,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,HitBilliard-v1,rigid_body/single_arm_gripper,80000,0.0,0,50,847.1820200000001,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,PingPongBallTransport-v1,rigid_body/single_arm_gripper,80000,0.0,0,50,2917.6216999999997,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,RingTossing-v1,rigid_body/single_arm_gripper,80000,0.0,0,50,-3737.09658,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,RodThroughHoles-v1,rigid_body/single_arm_dex,80000,0.0,0,50,542.37024,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,SpinPenHora-v1,rigid_body/single_arm_dex,80000,0.0,0,50,96.93959999999998,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,StampRoll-v1,deformable/single_arm_gripper,80000,0.0,0,50,0.0,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,TennisRally-v1,rigid_body/single_arm_dex,80000,0.0,0,50,128.63368,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level_4,WrapRope-v1,deformable/single_arm_gripper,80000,0.0,0,50,405.48364000000004,1000,multi_task/level_4/lora_step_0080000.npz,pi05_levels_20261028
level2_rigid_from_deformable,HangMug-v1,rigid_body/single_arm_gripper,50000,0.52,26,50,25.397140000000007,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,PivotBook-v1,rigid_body/single_arm_gripper,50000,0.12,6,50,159.01843999999997,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,OpenBoxRetrieval-v1,rigid_body/single_arm_gripper,50000,0.04,2,50,199.40897999999999,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,KitAssembly-v1,rigid_body/single_arm_gripper,50000,0.0,0,50,292.115,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,GraspTwoBlocks-v1,rigid_body/single_arm_dex,50000,0.54,27,50,223.79908,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,ReorientPen-v1,rigid_body/single_arm_dex,50000,0.38,19,50,110.58014000000001,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,DexOpenDoor-v1,rigid_body/single_arm_dex,50000,0.18,9,50,335.66782000000006,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,HammerNailOut-v1,rigid_body/single_arm_dex,50000,0.32,16,50,-24.299460000000007,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,DualArmLiftBall-v1,rigid_body/dual_arm_gripper,50000,0.24,12,50,28.77994,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,DualArmBookPickPlace-v1,rigid_body/dual_arm_gripper,50000,0.26,13,50,846.9558999999998,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,DualArmPegInHole-v1,rigid_body/dual_arm_gripper,50000,0.2,10,50,27.314819999999987,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,DualArmCleanupPotEnv-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,459.5193199999999,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,DualArmOpenLaptop-v1,rigid_body/dual_arm_dex,50000,0.18,9,50,1532.1382999999998,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,DualArmThrowBlock-v1,rigid_body/dual_arm_dex,50000,0.16,8,50,2266.9161800000006,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,DualArmJugglingBall-v1,rigid_body/dual_arm_dex,50000,0.04,2,50,-4877.259760000002,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_rigid_from_deformable,DualArmOpenBottle-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,2169.6739599999996,1000,multi_task/level2_rigid_from_deformable/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_deformable_from_rigid,FoldShirt-v1,deformable/single_arm_gripper,50000,0.38,19,50,147.09129999999996,1000,multi_task/level2_deformable_from_rigid/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_deformable_from_rigid,ScoopWater-v1,deformable/single_arm_gripper,50000,0.24,12,50,-21.59526,1000,multi_task/level2_deformable_from_rigid/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_deformable_from_rigid,StraightenTwoRopesSequential-v1,deformable/single_arm_gripper,50000,0.22,11,50,1944.7322400000005,1000,multi_task/level2_deformable_from_rigid/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_deformable_from_rigid,ClothWipe-v1,deformable/single_arm_dex,50000,0.12,6,50,404.06582000000003,1000,multi_task/level2_deformable_from_rigid/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_deformable_from_rigid,RollingPin-v1,deformable/single_arm_dex,50000,0.62,31,50,246.64686,1000,multi_task/level2_deformable_from_rigid/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_deformable_from_rigid,RopeBridgeDex-v1,deformable/single_arm_dex,50000,0.34,17,50,318.8231200000001,1000,multi_task/level2_deformable_from_rigid/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_deformable_from_rigid,DualArmClothAlign-v1,deformable/dual_arm_gripper,50000,0.42,21,50,30.40448,1000,multi_task/level2_deformable_from_rigid/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_deformable_from_rigid,DualArmPushObject-v1,deformable/dual_arm_gripper,50000,0.0,0,50,0.0,1000,multi_task/level2_deformable_from_rigid/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_deformable_from_rigid,DualArmStraightenRope-v1,deformable/dual_arm_gripper,50000,0.22,11,50,74.29152000000002,1000,multi_task/level2_deformable_from_rigid/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_deformable_from_rigid,DualArmPlaceRopeOverRod-v1,deformable/dual_arm_dex,50000,0.44,22,50,190.61788,1000,multi_task/level2_deformable_from_rigid/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_deformable_from_rigid,DualArmStuffCloth-v1,deformable/dual_arm_dex,50000,0.1,5,50,17.05008,1000,multi_task/level2_deformable_from_rigid/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_deformable_from_rigid,DualArmPouringTwoCups-v1,deformable/dual_arm_dex,50000,0.0,0,50,2588.5282,1000,multi_task/level2_deformable_from_rigid/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmLiftBall-v1,rigid_body/dual_arm_gripper,50000,0.4,20,50,31.503179999999993,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmBookPickPlace-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,831.1271199999999,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmPegInHole-v1,rigid_body/dual_arm_gripper,50000,0.14,7,50,36.8519,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmCleanupPotEnv-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,414.93050000000005,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmClothAlign-v1,deformable/dual_arm_gripper,50000,0.2,10,50,19.086540000000003,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmPushObject-v1,deformable/dual_arm_gripper,50000,0.0,0,50,0.0,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmStraightenRope-v1,deformable/dual_arm_gripper,50000,0.08,4,50,51.80951999999999,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmOpenLaptop-v1,rigid_body/dual_arm_dex,50000,0.4,20,50,1373.6647799999998,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmThrowBlock-v1,rigid_body/dual_arm_dex,50000,0.04,2,50,2237.0479200000004,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmJugglingBall-v1,rigid_body/dual_arm_dex,50000,0.14,7,50,-4439.92492,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmOpenBottle-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,2194.79396,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmPlaceRopeOverRod-v1,deformable/dual_arm_dex,50000,0.16,8,50,550.4811199999998,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmStuffCloth-v1,deformable/dual_arm_dex,50000,0.38,19,50,35.32356000000001,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dual_arm_from_single_arm,DualArmPouringTwoCups-v1,deformable/dual_arm_dex,50000,0.0,0,50,2399.41138,1000,multi_task/level2_dual_arm_from_single_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,HangMug-v1,rigid_body/single_arm_gripper,50000,0.36,18,50,18.6575,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,PivotBook-v1,rigid_body/single_arm_gripper,50000,0.12,6,50,228.47268,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,OpenBoxRetrieval-v1,rigid_body/single_arm_gripper,50000,0.04,2,50,191.34452000000002,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,KitAssembly-v1,rigid_body/single_arm_gripper,50000,0.1,5,50,384.94,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,FoldShirt-v1,deformable/single_arm_gripper,50000,0.38,19,50,158.09138000000002,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,ScoopWater-v1,deformable/single_arm_gripper,50000,0.18,9,50,-28.713860000000004,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,StraightenTwoRopesSequential-v1,deformable/single_arm_gripper,50000,0.18,9,50,2086.31832,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,GraspTwoBlocks-v1,rigid_body/single_arm_dex,50000,0.46,23,50,239.85002,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,ReorientPen-v1,rigid_body/single_arm_dex,50000,0.26,13,50,115.74127999999999,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,DexOpenDoor-v1,rigid_body/single_arm_dex,50000,0.1,5,50,451.85515999999996,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,HammerNailOut-v1,rigid_body/single_arm_dex,50000,0.3,15,50,-26.375459999999997,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,ClothWipe-v1,deformable/single_arm_dex,50000,0.34,17,50,374.74710000000005,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,RollingPin-v1,deformable/single_arm_dex,50000,0.06,3,50,270.67262000000005,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_single_arm_from_dual_arm,RopeBridgeDex-v1,deformable/single_arm_dex,50000,0.48,24,50,315.76582,1000,multi_task/level2_single_arm_from_dual_arm/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,GraspTwoBlocks-v1,rigid_body/single_arm_dex,50000,0.52,26,50,222.39753999999996,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,ReorientPen-v1,rigid_body/single_arm_dex,50000,0.2,10,50,115.44458,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,DexOpenDoor-v1,rigid_body/single_arm_dex,50000,0.2,10,50,364.2868400000001,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,HammerNailOut-v1,rigid_body/single_arm_dex,50000,0.42,21,50,-24.302180000000003,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,ClothWipe-v1,deformable/single_arm_dex,50000,0.1,5,50,366.91479999999996,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,RollingPin-v1,deformable/single_arm_dex,50000,0.28,14,50,270.49717999999996,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,RopeBridgeDex-v1,deformable/single_arm_dex,50000,0.5,25,50,287.45656,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,DualArmOpenLaptop-v1,rigid_body/dual_arm_dex,50000,0.3,15,50,1427.1803200000002,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,DualArmThrowBlock-v1,rigid_body/dual_arm_dex,50000,0.26,13,50,2169.29182,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,DualArmJugglingBall-v1,rigid_body/dual_arm_dex,50000,0.12,6,50,-4617.24346,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,DualArmOpenBottle-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,2208.14602,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,DualArmPlaceRopeOverRod-v1,deformable/dual_arm_dex,50000,0.54,27,50,335.33524000000006,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,DualArmStuffCloth-v1,deformable/dual_arm_dex,50000,0.48,24,50,48.75531999999998,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_dexterous_from_gripper,DualArmPouringTwoCups-v1,deformable/dual_arm_dex,50000,0.0,0,50,2484.6505,1000,multi_task/level2_dexterous_from_gripper/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,HangMug-v1,rigid_body/single_arm_gripper,50000,0.4,20,50,23.015820000000005,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,PivotBook-v1,rigid_body/single_arm_gripper,50000,0.22,11,50,236.99788,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,OpenBoxRetrieval-v1,rigid_body/single_arm_gripper,50000,0.28,14,50,180.52809999999997,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,KitAssembly-v1,rigid_body/single_arm_gripper,50000,0.0,0,50,287.38,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,FoldShirt-v1,deformable/single_arm_gripper,50000,0.48,24,50,215.65415999999996,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,ScoopWater-v1,deformable/single_arm_gripper,50000,0.3,15,50,-2.19626,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,StraightenTwoRopesSequential-v1,deformable/single_arm_gripper,50000,0.2,10,50,1992.6686799999995,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,DualArmLiftBall-v1,rigid_body/dual_arm_gripper,50000,0.22,11,50,28.982540000000007,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,DualArmBookPickPlace-v1,rigid_body/dual_arm_gripper,50000,0.42,21,50,604.4928600000001,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,DualArmPegInHole-v1,rigid_body/dual_arm_gripper,50000,0.22,11,50,54.26594,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,DualArmCleanupPotEnv-v1,rigid_body/dual_arm_gripper,50000,0.02,1,50,830.0323,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,DualArmClothAlign-v1,deformable/dual_arm_gripper,50000,0.34,17,50,30.602640000000005,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,DualArmPushObject-v1,deformable/dual_arm_gripper,50000,0.04,2,50,5.954359999999999,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_gripper_from_dexterous,DualArmStraightenRope-v1,deformable/dual_arm_gripper,50000,0.04,2,50,74.43406,1000,multi_task/level2_gripper_from_dexterous/lora_step_0050000.npz,pi05_lv2xfer_20261101
level2_from_level1,ClothWipe-v1,deformable/single_arm_dex,50000,0.24,12,50,385.56574,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DexOpenDoor-v1,rigid_body/single_arm_dex,50000,0.18,9,50,377.74296000000004,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmBookPickPlace-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,318.60598000000005,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmCleanupPotEnv-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,217.22484,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmClothAlign-v1,deformable/dual_arm_gripper,50000,0.22,11,50,32.18428,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmJugglingBall-v1,rigid_body/dual_arm_dex,50000,0.2,10,50,-4123.32294,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmLiftBall-v1,rigid_body/dual_arm_gripper,50000,0.18,9,50,32.56292,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmOpenBottle-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,2156.98738,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmOpenLaptop-v1,rigid_body/dual_arm_dex,50000,0.3,15,50,1409.5982000000001,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmPegInHole-v1,rigid_body/dual_arm_gripper,50000,0.28,14,50,37.90382,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmPlaceRopeOverRod-v1,deformable/dual_arm_dex,50000,0.74,37,50,253.59921999999997,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmPouringTwoCups-v1,deformable/dual_arm_dex,50000,0.0,0,50,2027.06476,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmPushObject-v1,deformable/dual_arm_gripper,50000,0.0,0,50,0.013800000000000002,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmStraightenRope-v1,deformable/dual_arm_gripper,50000,0.14,7,50,52.80332000000001,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmStuffCloth-v1,deformable/dual_arm_dex,50000,0.1,5,50,27.81286,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,DualArmThrowBlock-v1,rigid_body/dual_arm_dex,50000,0.24,12,50,2118.74322,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,FoldShirt-v1,deformable/single_arm_gripper,50000,0.5,25,50,202.30648000000002,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,GraspTwoBlocks-v1,rigid_body/single_arm_dex,50000,0.64,32,50,208.27066,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,HammerNailOut-v1,rigid_body/single_arm_dex,50000,0.32,16,50,-24.4546,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,HangMug-v1,rigid_body/single_arm_gripper,50000,0.42,21,50,17.72666,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,KitAssembly-v1,rigid_body/single_arm_gripper,50000,0.0,0,50,139.895,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,OpenBoxRetrieval-v1,rigid_body/single_arm_gripper,50000,0.06,3,50,197.39186,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,PivotBook-v1,rigid_body/single_arm_gripper,50000,0.14,7,50,248.15792000000002,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,ReorientPen-v1,rigid_body/single_arm_dex,50000,0.3,15,50,103.63018,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,RollingPin-v1,deformable/single_arm_dex,50000,0.38,19,50,253.30404,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,RopeBridgeDex-v1,deformable/single_arm_dex,50000,0.32,16,50,272.06566,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,ScoopWater-v1,deformable/single_arm_gripper,50000,0.14,7,50,-25.36436,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level1,StraightenTwoRopesSequential-v1,deformable/single_arm_gripper,50000,0.06,3,50,2135.37092,1000,multi_task/level2_from_level1/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DrapeCloth-v1,deformable/single_arm_dex,50000,0.98,49,50,7.59144,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmButtonPress-v1,rigid_body/dual_arm_gripper,50000,0.94,47,50,109.12971999999999,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmCoverCloth-v1,deformable/dual_arm_dex,50000,0.36,18,50,187.52776000000003,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmDoubleDoorBox-v1,rigid_body/dual_arm_gripper,50000,0.56,28,50,87.77644000000001,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmFoldHandKerchief-v1,deformable/dual_arm_gripper,50000,0.66,33,50,-7.93278,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmHammerHandover-v1,rigid_body/dual_arm_gripper,50000,0.12,6,50,442.77666,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmLiftSoftDex-v1,deformable/dual_arm_dex,50000,0.98,49,50,124.31164000000001,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmOpenPen-v1,rigid_body/dual_arm_dex,50000,0.28,14,50,906.2467200000001,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmOpenScissor-v1,rigid_body/dual_arm_dex,50000,0.86,43,50,322.57158,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmPouringWater-v1,deformable/dual_arm_gripper,50000,0.64,32,50,146.29584,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmPressButton-v1,rigid_body/dual_arm_dex,50000,0.18,9,50,202.23202,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmPushBox-v1,rigid_body/dual_arm_gripper,50000,0.42,21,50,64.1022,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmRopeCylinderWarpping-v1,deformable/dual_arm_gripper,50000,0.7,35,50,90.15933999999999,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmRopeStretch-v1,deformable/dual_arm_dex,50000,0.82,41,50,201.35448,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,DualArmSwingCup-v1,rigid_body/dual_arm_dex,50000,0.42,21,50,213.50468,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,GraspCylinder-v1,rigid_body/single_arm_dex,50000,0.94,47,50,25.61084,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,LiftBucket-v1,rigid_body/single_arm_dex,50000,0.82,41,50,108.16542,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,OpenDoor-v1,rigid_body/single_arm_gripper,50000,0.1,5,50,27.335720000000002,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,PickPlacePen-v1,rigid_body/single_arm_gripper,50000,0.5,25,50,70.59458,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,PushSoccer-v1,rigid_body/single_arm_gripper,50000,0.7,35,50,60.73479999999999,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,ReorientCube-v1,rigid_body/single_arm_dex,50000,1.0,50,50,29703.35348,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,RopePalmCageHoldDex-v1,deformable/single_arm_dex,50000,0.94,47,50,60.49230000000001,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,ShapeTToI-v1,deformable/single_arm_gripper,50000,0.32,16,50,-24.37622,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,SqueezeClay-v1,deformable/single_arm_dex,50000,0.6,30,50,622.0785,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,StackBlock-v1,rigid_body/single_arm_gripper,50000,0.66,33,50,47.49696,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,StraightenRope-v1,deformable/single_arm_gripper,50000,0.62,31,50,210.77,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,TurnOnFaucet-v1,rigid_body/single_arm_dex,50000,0.98,49,50,18.02212,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level1_from_level2,UnfoldShirt-v1,deformable/single_arm_gripper,50000,0.26,13,50,0.98658,1000,multi_task/level1_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,ClutterGrasp-v1,rigid_body/single_arm_dex,50000,0.0,0,50,nan,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmAssembleBracket-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,10.287080000000001,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmFoldCarton-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,5936.42092,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmLayerClayInDish-v1,deformable/dual_arm_dex,50000,0.0,0,50,446.88494,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmMakeLine-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,12451.475719999999,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmOpenFridge-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,1425.15506,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmOrganizeCabinet-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,1368.98614,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmPingpongBalance-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,97.12592000000001,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmPlugCharger-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,111.3852,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmSetupTable-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,56.87244,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmShapeDoll-v1,deformable/dual_arm_gripper,50000,0.0,0,50,386.13046,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmThreadCloth-v1,deformable/dual_arm_dex,50000,0.02,1,50,171.17984,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmThreadRopeThroughTube-v1,deformable/dual_arm_gripper,50000,0.0,0,50,2.5702999999999996,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmThreading-v1,deformable/dual_arm_dex,50000,0.04,2,50,nan,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,DualArmWeaveCloth-v1,deformable/dual_arm_gripper,50000,0.0,0,50,42.20444,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,GroceryPrepare-v1,rigid_body/single_arm_gripper,50000,0.0,0,50,2065.12124,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,HammerNail-v1,rigid_body/single_arm_dex,50000,0.0,0,50,-66.25786,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,HitBox-v1,deformable/single_arm_dex,50000,0.0,0,50,377.81138,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,LiquidMeasuring-v1,deformable/single_arm_gripper,50000,0.0,0,50,85.52546000000001,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,MazeBlockPush-v1,rigid_body/single_arm_gripper,50000,0.0,0,50,-606.4159599999999,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,MobilePickPlace-v1,rigid_body/single_arm_dex,50000,0.0,0,50,25.86926,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,PressFitSoftPeg-v1,deformable/single_arm_dex,50000,0.0,0,50,618.17936,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,PushTargetPose-v1,rigid_body/single_arm_gripper,50000,0.0,0,50,-564.65166,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,SeparateTwoRopesEnv-v1,deformable/single_arm_gripper,50000,0.0,0,50,1858.72316,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,Stack6Blocks-v1,rigid_body/single_arm_gripper,50000,0.0,0,50,1433.76086,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level3_from_level2,TweezersPickPlace-v1,rigid_body/single_arm_dex,50000,0.0,0,50,-132.02686,1000,multi_task/level3_from_level2/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,ClothWipe-v1,deformable/single_arm_dex,50000,0.58,29,50,330.92040000000003,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DexOpenDoor-v1,rigid_body/single_arm_dex,50000,0.4,20,50,273.39941999999996,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmBookPickPlace-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,985.7055,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmCleanupPotEnv-v1,rigid_body/dual_arm_gripper,50000,0.0,0,50,134.37132,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmClothAlign-v1,deformable/dual_arm_gripper,50000,0.12,6,50,28.889,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmJugglingBall-v1,rigid_body/dual_arm_dex,50000,0.14,7,50,-4161.02982,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmLiftBall-v1,rigid_body/dual_arm_gripper,50000,0.14,7,50,31.2273,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmOpenBottle-v1,rigid_body/dual_arm_dex,50000,0.0,0,50,2187.31884,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmOpenLaptop-v1,rigid_body/dual_arm_dex,50000,0.26,13,50,1495.9036600000002,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmPegInHole-v1,rigid_body/dual_arm_gripper,50000,0.1,5,50,37.34764,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmPlaceRopeOverRod-v1,deformable/dual_arm_dex,50000,0.24,12,50,192.72281999999998,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmPouringTwoCups-v1,deformable/dual_arm_dex,50000,0.0,0,50,2245.32168,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmPushObject-v1,deformable/dual_arm_gripper,50000,0.0,0,50,0.0,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmStraightenRope-v1,deformable/dual_arm_gripper,50000,0.14,7,50,66.9053,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmStuffCloth-v1,deformable/dual_arm_dex,50000,0.12,6,50,9.35924,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,DualArmThrowBlock-v1,rigid_body/dual_arm_dex,50000,0.14,7,50,2218.96146,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,FoldShirt-v1,deformable/single_arm_gripper,50000,0.46,23,50,209.07842,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,GraspTwoBlocks-v1,rigid_body/single_arm_dex,50000,0.38,19,50,248.08678,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,HammerNailOut-v1,rigid_body/single_arm_dex,50000,0.3,15,50,-24.82602,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,HangMug-v1,rigid_body/single_arm_gripper,50000,0.6,30,50,25.79132,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,KitAssembly-v1,rigid_body/single_arm_gripper,50000,0.0,0,50,105.025,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,OpenBoxRetrieval-v1,rigid_body/single_arm_gripper,50000,0.04,2,50,188.0654,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,PivotBook-v1,rigid_body/single_arm_gripper,50000,0.18,9,50,239.21453999999997,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,ReorientPen-v1,rigid_body/single_arm_dex,50000,0.36,18,50,107.6817,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,RollingPin-v1,deformable/single_arm_dex,50000,0.06,3,50,259.7799,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,RopeBridgeDex-v1,deformable/single_arm_dex,50000,0.62,31,50,268.28654,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,ScoopWater-v1,deformable/single_arm_gripper,50000,0.06,3,50,-27.8099,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101
level2_from_level3,StraightenTwoRopesSequential-v1,deformable/single_arm_gripper,50000,0.08,4,50,2139.9138000000003,1000,multi_task/level2_from_level3/lora_step_0050000.npz,pi05_transfer_20261101