| { |
| "suite": "level2_from_level1", |
| "source_level": "level_1", |
| "target_level": "level_2", |
| "step": 50000, |
| "num_tasks": 28, |
| "tasks_evaluated": 28, |
| "evaluation_complete": true, |
| "pending_tasks": [], |
| "episodes_per_task": 50, |
| "episode_seeds": "1000-1049", |
| "mean_success_rate": 0.21785714285714283, |
| "baseline_mean_success_rate": 0.2414285714285714, |
| "per_task": { |
| "HangMug-v1": { |
| "success_rate": 0.42, |
| "successes": 21, |
| "return_mean": 17.72666, |
| "baseline_success_rate": 0.42, |
| "embodiment": "rigid_body/single_arm_gripper" |
| }, |
| "PivotBook-v1": { |
| "success_rate": 0.14, |
| "successes": 7, |
| "return_mean": 248.15792000000002, |
| "baseline_success_rate": 0.16, |
| "embodiment": "rigid_body/single_arm_gripper" |
| }, |
| "OpenBoxRetrieval-v1": { |
| "success_rate": 0.06, |
| "successes": 3, |
| "return_mean": 197.39186, |
| "baseline_success_rate": 0.04, |
| "embodiment": "rigid_body/single_arm_gripper" |
| }, |
| "KitAssembly-v1": { |
| "success_rate": 0.0, |
| "successes": 0, |
| "return_mean": 139.895, |
| "baseline_success_rate": 0.0, |
| "embodiment": "rigid_body/single_arm_gripper" |
| }, |
| "GraspTwoBlocks-v1": { |
| "success_rate": 0.64, |
| "successes": 32, |
| "return_mean": 208.27066, |
| "baseline_success_rate": 0.56, |
| "embodiment": "rigid_body/single_arm_dex" |
| }, |
| "ReorientPen-v1": { |
| "success_rate": 0.3, |
| "successes": 15, |
| "return_mean": 103.63018, |
| "baseline_success_rate": 0.3, |
| "embodiment": "rigid_body/single_arm_dex" |
| }, |
| "DexOpenDoor-v1": { |
| "success_rate": 0.18, |
| "successes": 9, |
| "return_mean": 377.74296000000004, |
| "baseline_success_rate": 0.28, |
| "embodiment": "rigid_body/single_arm_dex" |
| }, |
| "HammerNailOut-v1": { |
| "success_rate": 0.32, |
| "successes": 16, |
| "return_mean": -24.4546, |
| "baseline_success_rate": 0.32, |
| "embodiment": "rigid_body/single_arm_dex" |
| }, |
| "DualArmLiftBall-v1": { |
| "success_rate": 0.18, |
| "successes": 9, |
| "return_mean": 32.56292, |
| "baseline_success_rate": 0.36, |
| "embodiment": "rigid_body/dual_arm_gripper" |
| }, |
| "DualArmBookPickPlace-v1": { |
| "success_rate": 0.0, |
| "successes": 0, |
| "return_mean": 318.60598000000005, |
| "baseline_success_rate": 0.0, |
| "embodiment": "rigid_body/dual_arm_gripper" |
| }, |
| "DualArmPegInHole-v1": { |
| "success_rate": 0.28, |
| "successes": 14, |
| "return_mean": 37.90382, |
| "baseline_success_rate": 0.18, |
| "embodiment": "rigid_body/dual_arm_gripper" |
| }, |
| "DualArmCleanupPotEnv-v1": { |
| "success_rate": 0.0, |
| "successes": 0, |
| "return_mean": 217.22484, |
| "baseline_success_rate": 0.0, |
| "embodiment": "rigid_body/dual_arm_gripper" |
| }, |
| "DualArmOpenLaptop-v1": { |
| "success_rate": 0.3, |
| "successes": 15, |
| "return_mean": 1409.5982000000001, |
| "baseline_success_rate": 0.34, |
| "embodiment": "rigid_body/dual_arm_dex" |
| }, |
| "DualArmThrowBlock-v1": { |
| "success_rate": 0.24, |
| "successes": 12, |
| "return_mean": 2118.74322, |
| "baseline_success_rate": 0.2, |
| "embodiment": "rigid_body/dual_arm_dex" |
| }, |
| "DualArmJugglingBall-v1": { |
| "success_rate": 0.2, |
| "successes": 10, |
| "return_mean": -4123.32294, |
| "baseline_success_rate": 0.0, |
| "embodiment": "rigid_body/dual_arm_dex" |
| }, |
| "DualArmOpenBottle-v1": { |
| "success_rate": 0.0, |
| "successes": 0, |
| "return_mean": 2156.98738, |
| "baseline_success_rate": 0.0, |
| "embodiment": "rigid_body/dual_arm_dex" |
| }, |
| "DualArmPlaceRopeOverRod-v1": { |
| "success_rate": 0.74, |
| "successes": 37, |
| "return_mean": 253.59921999999997, |
| "baseline_success_rate": 0.48, |
| "embodiment": "deformable/dual_arm_dex" |
| }, |
| "DualArmStuffCloth-v1": { |
| "success_rate": 0.1, |
| "successes": 5, |
| "return_mean": 27.81286, |
| "baseline_success_rate": 0.44, |
| "embodiment": "deformable/dual_arm_dex" |
| }, |
| "DualArmPouringTwoCups-v1": { |
| "success_rate": 0.0, |
| "successes": 0, |
| "return_mean": 2027.06476, |
| "baseline_success_rate": 0.0, |
| "embodiment": "deformable/dual_arm_dex" |
| }, |
| "DualArmClothAlign-v1": { |
| "success_rate": 0.22, |
| "successes": 11, |
| "return_mean": 32.18428, |
| "baseline_success_rate": 0.5, |
| "embodiment": "deformable/dual_arm_gripper" |
| }, |
| "DualArmPushObject-v1": { |
| "success_rate": 0.0, |
| "successes": 0, |
| "return_mean": 0.013800000000000002, |
| "baseline_success_rate": 0.0, |
| "embodiment": "deformable/dual_arm_gripper" |
| }, |
| "DualArmStraightenRope-v1": { |
| "success_rate": 0.14, |
| "successes": 7, |
| "return_mean": 52.80332000000001, |
| "baseline_success_rate": 0.24, |
| "embodiment": "deformable/dual_arm_gripper" |
| }, |
| "ClothWipe-v1": { |
| "success_rate": 0.24, |
| "successes": 12, |
| "return_mean": 385.56574, |
| "baseline_success_rate": 0.24, |
| "embodiment": "deformable/single_arm_dex" |
| }, |
| "RollingPin-v1": { |
| "success_rate": 0.38, |
| "successes": 19, |
| "return_mean": 253.30404, |
| "baseline_success_rate": 0.38, |
| "embodiment": "deformable/single_arm_dex" |
| }, |
| "RopeBridgeDex-v1": { |
| "success_rate": 0.32, |
| "successes": 16, |
| "return_mean": 272.06566, |
| "baseline_success_rate": 0.32, |
| "embodiment": "deformable/single_arm_dex" |
| }, |
| "FoldShirt-v1": { |
| "success_rate": 0.5, |
| "successes": 25, |
| "return_mean": 202.30648000000002, |
| "baseline_success_rate": 0.62, |
| "embodiment": "deformable/single_arm_gripper" |
| }, |
| "ScoopWater-v1": { |
| "success_rate": 0.14, |
| "successes": 7, |
| "return_mean": -25.36436, |
| "baseline_success_rate": 0.26, |
| "embodiment": "deformable/single_arm_gripper" |
| }, |
| "StraightenTwoRopesSequential-v1": { |
| "success_rate": 0.06, |
| "successes": 3, |
| "return_mean": 2135.37092, |
| "baseline_success_rate": 0.12, |
| "embodiment": "deformable/single_arm_gripper" |
| } |
| }, |
| "note": "Only the final checkpoint (step 50000) was evaluated, 50 episodes per task; baseline = level_2 policy trained 80000 steps from pi05_base on the same tasks (multi_task/level_2).", |
| "campaign": "pi05_transfer_20261101" |
| } |
|
|
