| { |
| "suite": "level2_from_level3", |
| "source_level": "level_3", |
| "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": 0.19714285714285712, |
| "baseline_mean_success_rate": 0.2414285714285714, |
| "per_task": { |
| "HangMug-v1": { |
| "success_rate": 0.6, |
| "successes": 30, |
| "return_mean": 25.79132, |
| "baseline_success_rate": 0.42, |
| "embodiment": "rigid_body/single_arm_gripper" |
| }, |
| "PivotBook-v1": { |
| "success_rate": 0.18, |
| "successes": 9, |
| "return_mean": 239.21453999999997, |
| "baseline_success_rate": 0.16, |
| "embodiment": "rigid_body/single_arm_gripper" |
| }, |
| "OpenBoxRetrieval-v1": { |
| "success_rate": 0.04, |
| "successes": 2, |
| "return_mean": 188.0654, |
| "baseline_success_rate": 0.04, |
| "embodiment": "rigid_body/single_arm_gripper" |
| }, |
| "KitAssembly-v1": { |
| "success_rate": 0.0, |
| "successes": 0, |
| "return_mean": 105.025, |
| "baseline_success_rate": 0.0, |
| "embodiment": "rigid_body/single_arm_gripper" |
| }, |
| "GraspTwoBlocks-v1": { |
| "success_rate": 0.38, |
| "successes": 19, |
| "return_mean": 248.08678, |
| "baseline_success_rate": 0.56, |
| "embodiment": "rigid_body/single_arm_dex" |
| }, |
| "ReorientPen-v1": { |
| "success_rate": 0.36, |
| "successes": 18, |
| "return_mean": 107.6817, |
| "baseline_success_rate": 0.3, |
| "embodiment": "rigid_body/single_arm_dex" |
| }, |
| "DexOpenDoor-v1": { |
| "success_rate": 0.4, |
| "successes": 20, |
| "return_mean": 273.39941999999996, |
| "baseline_success_rate": 0.28, |
| "embodiment": "rigid_body/single_arm_dex" |
| }, |
| "HammerNailOut-v1": { |
| "success_rate": 0.3, |
| "successes": 15, |
| "return_mean": -24.82602, |
| "baseline_success_rate": 0.32, |
| "embodiment": "rigid_body/single_arm_dex" |
| }, |
| "DualArmLiftBall-v1": { |
| "success_rate": 0.14, |
| "successes": 7, |
| "return_mean": 31.2273, |
| "baseline_success_rate": 0.36, |
| "embodiment": "rigid_body/dual_arm_gripper" |
| }, |
| "DualArmBookPickPlace-v1": { |
| "success_rate": 0.0, |
| "successes": 0, |
| "return_mean": 985.7055, |
| "baseline_success_rate": 0.0, |
| "embodiment": "rigid_body/dual_arm_gripper" |
| }, |
| "DualArmPegInHole-v1": { |
| "success_rate": 0.1, |
| "successes": 5, |
| "return_mean": 37.34764, |
| "baseline_success_rate": 0.18, |
| "embodiment": "rigid_body/dual_arm_gripper" |
| }, |
| "DualArmCleanupPotEnv-v1": { |
| "success_rate": 0.0, |
| "successes": 0, |
| "return_mean": 134.37132, |
| "baseline_success_rate": 0.0, |
| "embodiment": "rigid_body/dual_arm_gripper" |
| }, |
| "DualArmOpenLaptop-v1": { |
| "success_rate": 0.26, |
| "successes": 13, |
| "return_mean": 1495.9036600000002, |
| "baseline_success_rate": 0.34, |
| "embodiment": "rigid_body/dual_arm_dex" |
| }, |
| "DualArmThrowBlock-v1": { |
| "success_rate": 0.14, |
| "successes": 7, |
| "return_mean": 2218.96146, |
| "baseline_success_rate": 0.2, |
| "embodiment": "rigid_body/dual_arm_dex" |
| }, |
| "DualArmJugglingBall-v1": { |
| "success_rate": 0.14, |
| "successes": 7, |
| "return_mean": -4161.02982, |
| "baseline_success_rate": 0.0, |
| "embodiment": "rigid_body/dual_arm_dex" |
| }, |
| "DualArmOpenBottle-v1": { |
| "success_rate": 0.0, |
| "successes": 0, |
| "return_mean": 2187.31884, |
| "baseline_success_rate": 0.0, |
| "embodiment": "rigid_body/dual_arm_dex" |
| }, |
| "DualArmPlaceRopeOverRod-v1": { |
| "success_rate": 0.24, |
| "successes": 12, |
| "return_mean": 192.72281999999998, |
| "baseline_success_rate": 0.48, |
| "embodiment": "deformable/dual_arm_dex" |
| }, |
| "DualArmStuffCloth-v1": { |
| "success_rate": 0.12, |
| "successes": 6, |
| "return_mean": 9.35924, |
| "baseline_success_rate": 0.44, |
| "embodiment": "deformable/dual_arm_dex" |
| }, |
| "DualArmPouringTwoCups-v1": { |
| "success_rate": 0.0, |
| "successes": 0, |
| "return_mean": 2245.32168, |
| "baseline_success_rate": 0.0, |
| "embodiment": "deformable/dual_arm_dex" |
| }, |
| "DualArmClothAlign-v1": { |
| "success_rate": 0.12, |
| "successes": 6, |
| "return_mean": 28.889, |
| "baseline_success_rate": 0.5, |
| "embodiment": "deformable/dual_arm_gripper" |
| }, |
| "DualArmPushObject-v1": { |
| "success_rate": 0.0, |
| "successes": 0, |
| "return_mean": 0.0, |
| "baseline_success_rate": 0.0, |
| "embodiment": "deformable/dual_arm_gripper" |
| }, |
| "DualArmStraightenRope-v1": { |
| "success_rate": 0.14, |
| "successes": 7, |
| "return_mean": 66.9053, |
| "baseline_success_rate": 0.24, |
| "embodiment": "deformable/dual_arm_gripper" |
| }, |
| "ClothWipe-v1": { |
| "success_rate": 0.58, |
| "successes": 29, |
| "return_mean": 330.92040000000003, |
| "baseline_success_rate": 0.24, |
| "embodiment": "deformable/single_arm_dex" |
| }, |
| "RollingPin-v1": { |
| "success_rate": 0.06, |
| "successes": 3, |
| "return_mean": 259.7799, |
| "baseline_success_rate": 0.38, |
| "embodiment": "deformable/single_arm_dex" |
| }, |
| "RopeBridgeDex-v1": { |
| "success_rate": 0.62, |
| "successes": 31, |
| "return_mean": 268.28654, |
| "baseline_success_rate": 0.32, |
| "embodiment": "deformable/single_arm_dex" |
| }, |
| "FoldShirt-v1": { |
| "success_rate": 0.46, |
| "successes": 23, |
| "return_mean": 209.07842, |
| "baseline_success_rate": 0.62, |
| "embodiment": "deformable/single_arm_gripper" |
| }, |
| "ScoopWater-v1": { |
| "success_rate": 0.06, |
| "successes": 3, |
| "return_mean": -27.8099, |
| "baseline_success_rate": 0.26, |
| "embodiment": "deformable/single_arm_gripper" |
| }, |
| "StraightenTwoRopesSequential-v1": { |
| "success_rate": 0.08, |
| "successes": 4, |
| "return_mean": 2139.9138000000003, |
| "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" |
| } |
|
|
