| { |
| "suite": "level1_from_level2", |
| "source_level": "level_2", |
| "target_level": "level_1", |
| "step": 50000, |
| "num_tasks": 28, |
| "tasks_evaluated": 28, |
| "evaluation_complete": true, |
| "pending_tasks": [], |
| "episodes_per_task": 50, |
| "episode_seeds": "1000-1049", |
| "mean_success_rate": 0.62, |
| "baseline_mean_success_rate": 0.5792857142857143, |
| "per_task": { |
| "PushSoccer-v1": { |
| "success_rate": 0.7, |
| "successes": 35, |
| "return_mean": 60.73479999999999, |
| "baseline_success_rate": 0.6, |
| "embodiment": "rigid_body/single_arm_gripper" |
| }, |
| "PickPlacePen-v1": { |
| "success_rate": 0.5, |
| "successes": 25, |
| "return_mean": 70.59458, |
| "baseline_success_rate": 0.34, |
| "embodiment": "rigid_body/single_arm_gripper" |
| }, |
| "OpenDoor-v1": { |
| "success_rate": 0.1, |
| "successes": 5, |
| "return_mean": 27.335720000000002, |
| "baseline_success_rate": 0.12, |
| "embodiment": "rigid_body/single_arm_gripper" |
| }, |
| "StackBlock-v1": { |
| "success_rate": 0.66, |
| "successes": 33, |
| "return_mean": 47.49696, |
| "baseline_success_rate": 0.54, |
| "embodiment": "rigid_body/single_arm_gripper" |
| }, |
| "LiftBucket-v1": { |
| "success_rate": 0.82, |
| "successes": 41, |
| "return_mean": 108.16542, |
| "baseline_success_rate": 0.54, |
| "embodiment": "rigid_body/single_arm_dex" |
| }, |
| "TurnOnFaucet-v1": { |
| "success_rate": 0.98, |
| "successes": 49, |
| "return_mean": 18.02212, |
| "baseline_success_rate": 0.84, |
| "embodiment": "rigid_body/single_arm_dex" |
| }, |
| "ReorientCube-v1": { |
| "success_rate": 1.0, |
| "successes": 50, |
| "return_mean": 29703.35348, |
| "baseline_success_rate": 0.84, |
| "embodiment": "rigid_body/single_arm_dex" |
| }, |
| "GraspCylinder-v1": { |
| "success_rate": 0.94, |
| "successes": 47, |
| "return_mean": 25.61084, |
| "baseline_success_rate": 0.86, |
| "embodiment": "rigid_body/single_arm_dex" |
| }, |
| "DualArmPushBox-v1": { |
| "success_rate": 0.42, |
| "successes": 21, |
| "return_mean": 64.1022, |
| "baseline_success_rate": 0.6, |
| "embodiment": "rigid_body/dual_arm_gripper" |
| }, |
| "DualArmDoubleDoorBox-v1": { |
| "success_rate": 0.56, |
| "successes": 28, |
| "return_mean": 87.77644000000001, |
| "baseline_success_rate": 0.7, |
| "embodiment": "rigid_body/dual_arm_gripper" |
| }, |
| "DualArmButtonPress-v1": { |
| "success_rate": 0.94, |
| "successes": 47, |
| "return_mean": 109.12971999999999, |
| "baseline_success_rate": 0.9, |
| "embodiment": "rigid_body/dual_arm_gripper" |
| }, |
| "DualArmHammerHandover-v1": { |
| "success_rate": 0.12, |
| "successes": 6, |
| "return_mean": 442.77666, |
| "baseline_success_rate": 0.24, |
| "embodiment": "rigid_body/dual_arm_gripper" |
| }, |
| "DualArmPressButton-v1": { |
| "success_rate": 0.18, |
| "successes": 9, |
| "return_mean": 202.23202, |
| "baseline_success_rate": 0.38, |
| "embodiment": "rigid_body/dual_arm_dex" |
| }, |
| "DualArmOpenScissor-v1": { |
| "success_rate": 0.86, |
| "successes": 43, |
| "return_mean": 322.57158, |
| "baseline_success_rate": 0.98, |
| "embodiment": "rigid_body/dual_arm_dex" |
| }, |
| "DualArmSwingCup-v1": { |
| "success_rate": 0.42, |
| "successes": 21, |
| "return_mean": 213.50468, |
| "baseline_success_rate": 0.42, |
| "embodiment": "rigid_body/dual_arm_dex" |
| }, |
| "DualArmOpenPen-v1": { |
| "success_rate": 0.28, |
| "successes": 14, |
| "return_mean": 906.2467200000001, |
| "baseline_success_rate": 0.3, |
| "embodiment": "rigid_body/dual_arm_dex" |
| }, |
| "DualArmCoverCloth-v1": { |
| "success_rate": 0.36, |
| "successes": 18, |
| "return_mean": 187.52776000000003, |
| "baseline_success_rate": 0.24, |
| "embodiment": "deformable/dual_arm_dex" |
| }, |
| "DualArmLiftSoftDex-v1": { |
| "success_rate": 0.98, |
| "successes": 49, |
| "return_mean": 124.31164000000001, |
| "baseline_success_rate": 1.0, |
| "embodiment": "deformable/dual_arm_dex" |
| }, |
| "DualArmRopeStretch-v1": { |
| "success_rate": 0.82, |
| "successes": 41, |
| "return_mean": 201.35448, |
| "baseline_success_rate": 0.48, |
| "embodiment": "deformable/dual_arm_dex" |
| }, |
| "DualArmFoldHandKerchief-v1": { |
| "success_rate": 0.66, |
| "successes": 33, |
| "return_mean": -7.93278, |
| "baseline_success_rate": 0.6, |
| "embodiment": "deformable/dual_arm_gripper" |
| }, |
| "DualArmPouringWater-v1": { |
| "success_rate": 0.64, |
| "successes": 32, |
| "return_mean": 146.29584, |
| "baseline_success_rate": 0.72, |
| "embodiment": "deformable/dual_arm_gripper" |
| }, |
| "DualArmRopeCylinderWarpping-v1": { |
| "success_rate": 0.7, |
| "successes": 35, |
| "return_mean": 90.15933999999999, |
| "baseline_success_rate": 0.66, |
| "embodiment": "deformable/dual_arm_gripper" |
| }, |
| "DrapeCloth-v1": { |
| "success_rate": 0.98, |
| "successes": 49, |
| "return_mean": 7.59144, |
| "baseline_success_rate": 0.96, |
| "embodiment": "deformable/single_arm_dex" |
| }, |
| "RopePalmCageHoldDex-v1": { |
| "success_rate": 0.94, |
| "successes": 47, |
| "return_mean": 60.49230000000001, |
| "baseline_success_rate": 0.92, |
| "embodiment": "deformable/single_arm_dex" |
| }, |
| "SqueezeClay-v1": { |
| "success_rate": 0.6, |
| "successes": 30, |
| "return_mean": 622.0785, |
| "baseline_success_rate": 0.4, |
| "embodiment": "deformable/single_arm_dex" |
| }, |
| "ShapeTToI-v1": { |
| "success_rate": 0.32, |
| "successes": 16, |
| "return_mean": -24.37622, |
| "baseline_success_rate": 0.1, |
| "embodiment": "deformable/single_arm_gripper" |
| }, |
| "StraightenRope-v1": { |
| "success_rate": 0.62, |
| "successes": 31, |
| "return_mean": 210.77, |
| "baseline_success_rate": 0.66, |
| "embodiment": "deformable/single_arm_gripper" |
| }, |
| "UnfoldShirt-v1": { |
| "success_rate": 0.26, |
| "successes": 13, |
| "return_mean": 0.98658, |
| "baseline_success_rate": 0.28, |
| "embodiment": "deformable/single_arm_gripper" |
| } |
| }, |
| "note": "Only the final checkpoint (step 50000) was evaluated, 50 episodes per task; baseline = level_1 policy trained 80000 steps from pi05_base on the same tasks (multi_task/level_1).", |
| "campaign": "pi05_transfer_20261101" |
| } |
|
|
