Index 20 finished PI0.5 retraining peaks with 50-episode evaluation provenance

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README.md +29 -5
single_task/all_checkpoints_eval.csv +631 -478
single_task/pi05_retrain_eval50_20261022_manifest.json +322 -0
single_task/results.csv +46 -26

README.md CHANGED Viewed

@@ -6,10 +6,13 @@ license: mit
 ## single_task
-One PI0.5 LoRA checkpoint per ManiLadder task (60 tasks), each finetuned on that task's 20 demos.
-For every task, all saved checkpoints (steps 5k–40k, every 5k) were re-evaluated for **50 episodes**
-with fixed episode seeds 1000–1049 (identical across checkpoints of a task), and the checkpoint with the
-highest success rate is published here (ties → earliest step).
 Each `single_task/<task>/` folder contains:
@@ -18,17 +21,22 @@ Each `single_task/<task>/` folder contains:
 - `eval_result.json` — 50-episode evaluation of this checkpoint
 `single_task/results.csv` lists the selected checkpoint per task; `single_task/all_checkpoints_eval.csv` has the
-50-episode result of every evaluated checkpoint (477 total).
 Evaluation: `exec_steps=16`, `sample_steps=10`. Tasks whose checkpoints all scored 0/50 are still included;
 for them the step choice is arbitrary.
 | task | level | step | success (50 ep) |
 |---|---|---|---|
 | DualArmButtonPress-v1 | 1 | 5000 | 0.98 |
 | DualArmCoverCloth-v1 | 1 | 15000 | 0.80 |
 | DualArmFoldHandKerchief-v1 | 1 | 5000 | 0.74 |
 | DualArmOpenPen-v1 | 1 | 35000 | 0.36 |
 | DualArmRopeCylinderWarpping-v1 | 1 | 10000 | 0.62 |
 | DualArmRopeStretch-v1 | 1 | 10000 | 0.92 |
 | GraspCylinder-v1 | 1 | 15000 | 0.94 |
@@ -37,13 +45,23 @@ for them the step choice is arbitrary.
 | PickPlacePen-v1 | 1 | 20000 | 0.36 |
 | PushSoccer-v1 | 1 | 40000 | 0.80 |
 | RopePalmCageHoldDex-v1 | 1 | 5000 | 0.94 |
 | TurnOnFaucet-v1 | 1 | 10000 | 0.92 |
 | ClothWipe-v1 | 2 | 25000 | 0.52 |
 | DualArmClothAlign-v1 | 2 | 40000 | 0.38 |
 | DualArmOpenBottle-v1 | 2 | 30000 | 0.06 |
 | DualArmOpenLaptop-v1 | 2 | 25000 | 0.42 |
 | DualArmPegInHole-v1 | 2 | 5000 | 0.18 |
 | DualArmPlaceRopeOverRod-v1 | 2 | 40000 | 0.46 |
 | DualArmStuffCloth-v1 | 2 | 15000 | 0.40 |
 | DualArmThrowBlock-v1 | 2 | 5000 | 0.00 |
 | FoldShirt-v1 | 2 | 40000 | 0.72 |
@@ -51,20 +69,25 @@ for them the step choice is arbitrary.
 | HammerNailOut-v1 | 2 | 40000 | 0.44 |
 | HangMug-v1 | 2 | 10000 | 0.70 |
 | KitAssembly-v1 | 2 | 15000 | 0.06 |
 | PivotBook-v1 | 2 | 15000 | 0.38 |
 | ReorientPen-v1 | 2 | 25000 | 0.38 |
 | RollingPin-v1 | 2 | 25000 | 0.96 |
 | StraightenTwoRopesSequential-v1 | 2 | 15000 | 0.36 |
 | DualArmOpenFridge-v1 | 3 | 5000 | 0.00 |
 | DualArmPingpongBalance-v1 | 3 | 15000 | 0.20 |
 | DualArmSetupTable-v1 | 3 | 25000 | 0.04 |
 | DualArmShapeDoll-v1 | 3 | 30000 | 0.04 |
 | DualArmThreadRopeThroughTube-v1 | 3 | 35000 | 0.16 |
 | DualArmWeaveCloth-v1 | 3 | 20000 | 0.32 |
 | HammerNail-v1 | 3 | 35000 | 0.12 |
 | HitBox-v1 | 3 | 25000 | 0.06 |
 | LiquidMeasuring-v1 | 3 | 35000 | 0.32 |
 | MobilePickPlace-v1 | 3 | 15000 | 0.08 |
 | Stack6Blocks-v1 | 3 | 5000 | 0.00 |
 | TweezersPickPlace-v1 | 3 | 5000 | 0.00 |
 | BuildTent-v1 | 4 | 10000 | 0.06 |
@@ -85,3 +108,4 @@ for them the step choice is arbitrary.
 | RodThroughHoles-v1 | 4 | 5000 | 0.02 |
 | SpinPenHora-v1 | 4 | 5000 | 0.00 |
 | TennisRally-v1 | 4 | 15000 | 0.06 |

 ## single_task
+One PI0.5 LoRA checkpoint per ManiLadder task (80 tasks), each finetuned on 20 demos.
+Checkpoints are selected by the highest **50-episode** success rate; ties use the earliest step.
+- The 60 previously published tasks use fixed evaluation seeds 1000–1049.
+- The 20 completed retraining runs added on 2026-10-28 use seeds 800000–800049. All reached 40,000 training steps. 13 have all eight 5k–40k evaluations; 7 have seven evaluations because one intermediate checkpoint was not retained. Their selected weights are the best among the available evaluated checkpoints.
+See [retraining provenance and missing steps](single_task/pi05_retrain_eval50_20261022_manifest.json). These scores use different seed sets across the two groups and are not a controlled comparison.
 Each `single_task/<task>/` folder contains:
 - `eval_result.json` — 50-episode evaluation of this checkpoint
 `single_task/results.csv` lists the selected checkpoint per task; `single_task/all_checkpoints_eval.csv` has the
+50-episode result of every evaluated checkpoint (630 total).
 Evaluation: `exec_steps=16`, `sample_steps=10`. Tasks whose checkpoints all scored 0/50 are still included;
 for them the step choice is arbitrary.
 | task | level | step | success (50 ep) |
 |---|---|---|---|
+| DrapeCloth-v1 | 1 | 10000 | 1.00 |
 | DualArmButtonPress-v1 | 1 | 5000 | 0.98 |
 | DualArmCoverCloth-v1 | 1 | 15000 | 0.80 |
+| DualArmDoubleDoorBox-v1 | 1 | 20000 | 0.82 |
 | DualArmFoldHandKerchief-v1 | 1 | 5000 | 0.74 |
+| DualArmHammerHandover-v1 | 1 | 25000 | 0.74 |
 | DualArmOpenPen-v1 | 1 | 35000 | 0.36 |
+| DualArmOpenScissor-v1 | 1 | 15000 | 0.86 |
+| DualArmPressButton-v1 | 1 | 15000 | 0.80 |
 | DualArmRopeCylinderWarpping-v1 | 1 | 10000 | 0.62 |
 | DualArmRopeStretch-v1 | 1 | 10000 | 0.92 |
 | GraspCylinder-v1 | 1 | 15000 | 0.94 |
 | PickPlacePen-v1 | 1 | 20000 | 0.36 |
 | PushSoccer-v1 | 1 | 40000 | 0.80 |
 | RopePalmCageHoldDex-v1 | 1 | 5000 | 0.94 |
+| ShapeTToI-v1 | 1 | 40000 | 0.50 |
+| StackBlock-v1 | 1 | 15000 | 0.46 |
+| StraightenRope-v1 | 1 | 35000 | 0.84 |
 | TurnOnFaucet-v1 | 1 | 10000 | 0.92 |
+| UnfoldShirt-v1 | 1 | 5000 | 0.78 |
 | ClothWipe-v1 | 2 | 25000 | 0.52 |
+| DexOpenDoor-v1 | 2 | 5000 | 0.56 |
+| DualArmBookPickPlace-v1 | 2 | 15000 | 0.56 |
+| DualArmCleanupPotEnv-v1 | 2 | 35000 | 0.38 |
 | DualArmClothAlign-v1 | 2 | 40000 | 0.38 |
+| DualArmJugglingBall-v1 | 2 | 40000 | 0.06 |
+| DualArmLiftBall-v1 | 2 | 35000 | 0.54 |
 | DualArmOpenBottle-v1 | 2 | 30000 | 0.06 |
 | DualArmOpenLaptop-v1 | 2 | 25000 | 0.42 |
 | DualArmPegInHole-v1 | 2 | 5000 | 0.18 |
 | DualArmPlaceRopeOverRod-v1 | 2 | 40000 | 0.46 |
+| DualArmStraightenRope-v1 | 2 | 35000 | 0.48 |
 | DualArmStuffCloth-v1 | 2 | 15000 | 0.40 |
 | DualArmThrowBlock-v1 | 2 | 5000 | 0.00 |
 | FoldShirt-v1 | 2 | 40000 | 0.72 |
 | HammerNailOut-v1 | 2 | 40000 | 0.44 |
 | HangMug-v1 | 2 | 10000 | 0.70 |
 | KitAssembly-v1 | 2 | 15000 | 0.06 |
+| OpenBoxRetrieval-v1 | 2 | 25000 | 0.38 |
 | PivotBook-v1 | 2 | 15000 | 0.38 |
 | ReorientPen-v1 | 2 | 25000 | 0.38 |
 | RollingPin-v1 | 2 | 25000 | 0.96 |
 | StraightenTwoRopesSequential-v1 | 2 | 15000 | 0.36 |
 | DualArmOpenFridge-v1 | 3 | 5000 | 0.00 |
 | DualArmPingpongBalance-v1 | 3 | 15000 | 0.20 |
+| DualArmPlugCharger-v1 | 3 | 5000 | 0.00 |
 | DualArmSetupTable-v1 | 3 | 25000 | 0.04 |
 | DualArmShapeDoll-v1 | 3 | 30000 | 0.04 |
 | DualArmThreadRopeThroughTube-v1 | 3 | 35000 | 0.16 |
 | DualArmWeaveCloth-v1 | 3 | 20000 | 0.32 |
+| GroceryPrepare-v1 | 3 | 5000 | 0.00 |
 | HammerNail-v1 | 3 | 35000 | 0.12 |
 | HitBox-v1 | 3 | 25000 | 0.06 |
 | LiquidMeasuring-v1 | 3 | 35000 | 0.32 |
 | MobilePickPlace-v1 | 3 | 15000 | 0.08 |
+| PushTargetPose-v1 | 3 | 30000 | 0.02 |
+| SeparateTwoRopesEnv-v1 | 3 | 35000 | 0.26 |
 | Stack6Blocks-v1 | 3 | 5000 | 0.00 |
 | TweezersPickPlace-v1 | 3 | 5000 | 0.00 |
 | BuildTent-v1 | 4 | 10000 | 0.06 |
 | RodThroughHoles-v1 | 4 | 5000 | 0.02 |
 | SpinPenHora-v1 | 4 | 5000 | 0.00 |
 | TennisRally-v1 | 4 | 15000 | 0.06 |

single_task/all_checkpoints_eval.csv CHANGED Viewed

@@ -1,478 +1,631 @@
-task,level,step,success,successes,return_mean
-DualArmCoverCloth-v1,level_1,5000,0.24,12,192.1267825967567
-DualArmCoverCloth-v1,level_1,10000,0.34,17,198.25729583896697
-DualArmCoverCloth-v1,level_1,15000,0.8,40,144.4165011787426
-DualArmCoverCloth-v1,level_1,20000,0.4,20,181.82558477331418
-DualArmCoverCloth-v1,level_1,25000,0.22,11,193.93926194417057
-DualArmCoverCloth-v1,level_1,30000,0.5,25,162.4261789018489
-DualArmCoverCloth-v1,level_1,35000,0.22,11,184.13170099303127
-DualArmCoverCloth-v1,level_1,40000,0.42,21,162.59602199232438
-DualArmRopeStretch-v1,level_1,5000,0.6,30,217.4085968887806
-DualArmRopeStretch-v1,level_1,10000,0.92,46,186.05761841654777
-DualArmRopeStretch-v1,level_1,15000,0.92,46,183.99752925515176
-DualArmRopeStretch-v1,level_1,20000,0.82,41,195.065522377491
-DualArmRopeStretch-v1,level_1,25000,0.82,41,195.7638722229004
-DualArmRopeStretch-v1,level_1,30000,0.86,43,191.87583116173744
-DualArmRopeStretch-v1,level_1,35000,0.76,38,202.07684795379637
-DualArmRopeStretch-v1,level_1,40000,0.76,38,201.48189628362655
-DualArmFoldHandKerchief-v1,level_1,5000,0.74,37,-13.995554169416428
-DualArmFoldHandKerchief-v1,level_1,10000,0.66,33,-23.69535655915737
-DualArmFoldHandKerchief-v1,level_1,15000,0.58,29,-23.868244435489178
-DualArmFoldHandKerchief-v1,level_1,20000,0.64,32,-25.854803668856622
-DualArmFoldHandKerchief-v1,level_1,25000,0.6,30,-21.692682106494903
-DualArmFoldHandKerchief-v1,level_1,30000,0.64,32,-17.018760781288147
-DualArmFoldHandKerchief-v1,level_1,35000,0.62,31,-25.837230781018732
-DualArmFoldHandKerchief-v1,level_1,40000,0.54,27,-19.315329426825045
-DualArmRopeCylinderWarpping-v1,level_1,5000,0.56,28,88.58144970148801
-DualArmRopeCylinderWarpping-v1,level_1,10000,0.62,31,81.67051498234272
-DualArmRopeCylinderWarpping-v1,level_1,15000,0.54,27,86.22807513743639
-DualArmRopeCylinderWarpping-v1,level_1,20000,0.48,24,85.54877895057201
-DualArmRopeCylinderWarpping-v1,level_1,25000,0.5,25,88.75803962796927
-DualArmRopeCylinderWarpping-v1,level_1,30000,0.54,27,86.46499432876706
-DualArmRopeCylinderWarpping-v1,level_1,35000,0.52,26,83.81079191997647
-DualArmRopeCylinderWarpping-v1,level_1,40000,0.5,25,88.3807731771469
-RopePalmCageHoldDex-v1,level_1,5000,0.94,47,58.918224368095395
-RopePalmCageHoldDex-v1,level_1,10000,0.8,40,65.04999831333757
-RopePalmCageHoldDex-v1,level_1,15000,0.88,44,60.85013444259763
-RopePalmCageHoldDex-v1,level_1,20000,0.82,41,62.921965073496104
-RopePalmCageHoldDex-v1,level_1,25000,0.84,42,63.20006484284997
-RopePalmCageHoldDex-v1,level_1,30000,0.88,44,61.99557837814093
-RopePalmCageHoldDex-v1,level_1,35000,0.88,44,62.34238040417433
-RopePalmCageHoldDex-v1,level_1,40000,0.86,43,62.77147597208619
-DualArmOpenPen-v1,level_1,5000,0.34,17,848.7281628412009
-DualArmOpenPen-v1,level_1,10000,0.32,16,837.5850449207425
-DualArmOpenPen-v1,level_1,15000,0.2,10,805.6612854599953
-DualArmOpenPen-v1,level_1,20000,0.34,17,837.3289239484071
-DualArmOpenPen-v1,level_1,25000,0.22,11,nan
-DualArmOpenPen-v1,level_1,30000,0.22,11,826.5384598797559
-DualArmOpenPen-v1,level_1,35000,0.36,18,798.6847934004664
-DualArmOpenPen-v1,level_1,40000,0.28,14,nan
-DualArmButtonPress-v1,level_1,5000,0.98,49,97.12502707958221
-DualArmButtonPress-v1,level_1,10000,0.94,47,105.99478406906128
-DualArmButtonPress-v1,level_1,15000,0.92,46,110.15575822591782
-DualArmButtonPress-v1,level_1,20000,0.86,43,124.01788116931915
-DualArmButtonPress-v1,level_1,25000,0.86,43,123.27124275445938
-DualArmButtonPress-v1,level_1,30000,0.84,42,128.5457330584526
-DualArmButtonPress-v1,level_1,35000,0.88,44,118.79112421274185
-DualArmButtonPress-v1,level_1,40000,0.86,43,122.83211128234863
-GraspCylinder-v1,level_1,5000,0.9,45,24.33076073028518
-GraspCylinder-v1,level_1,10000,0.9,45,24.851561762759992
-GraspCylinder-v1,level_1,15000,0.94,47,25.653659981940546
-GraspCylinder-v1,level_1,20000,0.9,45,24.57017223808127
-GraspCylinder-v1,level_1,25000,0.92,46,25.68929285959772
-GraspCylinder-v1,level_1,30000,0.94,47,26.218032003741765
-GraspCylinder-v1,level_1,35000,0.94,47,25.841893786347146
-GraspCylinder-v1,level_1,40000,0.9,45,25.292166099923634
-LiftBucket-v1,level_1,5000,0.2,10,163.83099677085877
-LiftBucket-v1,level_1,10000,0.94,47,98.44282671809196
-LiftBucket-v1,level_1,15000,0.84,42,106.98082929849625
-LiftBucket-v1,level_1,20000,0.86,43,106.26126730442047
-LiftBucket-v1,level_1,25000,0.92,46,103.61563530683517
-LiftBucket-v1,level_1,30000,0.84,42,108.06760128974915
-LiftBucket-v1,level_1,35000,0.92,46,100.6508888375759
-LiftBucket-v1,level_1,40000,0.96,48,96.80372586607933
-TurnOnFaucet-v1,level_1,5000,0.84,42,14.629086217982696
-TurnOnFaucet-v1,level_1,10000,0.92,46,16.862867071165237
-TurnOnFaucet-v1,level_1,15000,0.86,43,15.642866224958563
-TurnOnFaucet-v1,level_1,20000,0.88,44,15.11060263212072
-TurnOnFaucet-v1,level_1,25000,0.86,43,15.139536786193503
-TurnOnFaucet-v1,level_1,30000,0.82,41,14.144072188258878
-TurnOnFaucet-v1,level_1,35000,0.82,41,14.374822221453078
-TurnOnFaucet-v1,level_1,40000,0.84,42,14.696782298122711
-OpenDoor-v1,level_1,5000,0.3,15,81.66296870330603
-OpenDoor-v1,level_1,10000,0.24,12,93.23127404245614
-OpenDoor-v1,level_1,15000,0.24,12,47.44674762370511
-OpenDoor-v1,level_1,20000,0.2,10,80.22020105135914
-OpenDoor-v1,level_1,25000,0.2,10,69.365043020613
-OpenDoor-v1,level_1,30000,0.26,13,60.57508714767713
-OpenDoor-v1,level_1,35000,0.22,11,52.8616152550091
-OpenDoor-v1,level_1,40000,0.18,9,61.84445682378205
-PickPlacePen-v1,level_1,5000,0.2,10,58.34850861787796
-PickPlacePen-v1,level_1,10000,0.26,13,102.91128782510758
-PickPlacePen-v1,level_1,15000,0.34,17,109.48091080307961
-PickPlacePen-v1,level_1,20000,0.36,18,95.0536512184143
-PickPlacePen-v1,level_1,25000,0.26,13,111.45588166356087
-PickPlacePen-v1,level_1,30000,0.22,11,117.25063677191734
-PickPlacePen-v1,level_1,35000,0.26,13,117.22585187792778
-PickPlacePen-v1,level_1,40000,0.32,16,112.43077191233635
-PushSoccer-v1,level_1,5000,0.64,32,63.92137126088142
-PushSoccer-v1,level_1,10000,0.66,33,65.62150128126144
-PushSoccer-v1,level_1,15000,0.72,36,61.28525426745415
-PushSoccer-v1,level_1,20000,0.78,39,53.52894441485405
-PushSoccer-v1,level_1,25000,0.76,38,55.87276070356369
-PushSoccer-v1,level_1,30000,0.76,38,60.96458682656288
-PushSoccer-v1,level_1,35000,0.76,38,56.6934594810009
-PushSoccer-v1,level_1,40000,0.8,40,55.96963231444359
-DualArmPlaceRopeOverRod-v1,level_2,5000,0.02,1,159.39394753875212
-DualArmPlaceRopeOverRod-v1,level_2,10000,0.04,2,196.88293693638406
-DualArmPlaceRopeOverRod-v1,level_2,15000,0.14,7,289.13082848131654
-DualArmPlaceRopeOverRod-v1,level_2,20000,0.34,17,243.5225198026281
-DualArmPlaceRopeOverRod-v1,level_2,25000,0.28,14,324.9540537391882
-DualArmPlaceRopeOverRod-v1,level_2,30000,0.38,19,296.7787297666073
-DualArmPlaceRopeOverRod-v1,level_2,35000,0.08,4,298.22417598265224
-DualArmPlaceRopeOverRod-v1,level_2,40000,0.46,23,289.2976510642795
-DualArmStuffCloth-v1,level_2,5000,0.26,13,36.1589380820794
-DualArmStuffCloth-v1,level_2,10000,0.1,5,12.514477247553877
-DualArmStuffCloth-v1,level_2,15000,0.4,20,46.894351813681425
-DualArmStuffCloth-v1,level_2,20000,0.32,16,41.14128454748308
-DualArmStuffCloth-v1,level_2,25000,0.22,11,30.477255163099617
-DualArmStuffCloth-v1,level_2,30000,0.32,16,20.593299287557603
-DualArmStuffCloth-v1,level_2,35000,0.14,7,20.886216926290654
-DualArmStuffCloth-v1,level_2,40000,0.26,13,23.812841891734863
-DualArmClothAlign-v1,level_2,5000,0.22,11,33.58352347676642
-DualArmClothAlign-v1,level_2,10000,0.34,17,32.044271623790266
-DualArmClothAlign-v1,level_2,15000,0.26,13,36.29374010687694
-DualArmClothAlign-v1,level_2,20000,0.22,11,34.49777565704659
-DualArmClothAlign-v1,level_2,25000,0.36,18,29.255039263889195
-DualArmClothAlign-v1,level_2,30000,0.16,8,39.45685027938336
-DualArmClothAlign-v1,level_2,35000,0.34,17,31.9937991212029
-DualArmClothAlign-v1,level_2,40000,0.38,19,30.897125910464673
-ClothWipe-v1,level_2,5000,0.16,8,366.58430208094416
-ClothWipe-v1,level_2,10000,0.3,15,373.01743837943303
-ClothWipe-v1,level_2,15000,0.2,10,384.1779712532461
-ClothWipe-v1,level_2,20000,0.38,19,363.6087702172995
-ClothWipe-v1,level_2,25000,0.52,26,354.6896101513505
-ClothWipe-v1,level_2,30000,0.34,17,383.1513956150413
-ClothWipe-v1,level_2,35000,0.48,24,343.40371913433074
-ClothWipe-v1,level_2,40000,0.22,11,391.8261306717247
-RollingPin-v1,level_2,5000,0.62,31,236.66776097416877
-RollingPin-v1,level_2,10000,0.82,41,219.33673781514167
-RollingPin-v1,level_2,15000,0.88,44,219.61299183487893
-RollingPin-v1,level_2,20000,0.84,42,223.52243975043297
-RollingPin-v1,level_2,25000,0.96,48,212.23153244376184
-RollingPin-v1,level_2,30000,0.84,42,216.7686476457119
-RollingPin-v1,level_2,35000,0.82,41,220.03086215257645
-RollingPin-v1,level_2,40000,0.92,46,214.28712272286415
-FoldShirt-v1,level_2,5000,0.5,25,131.64590929369334
-FoldShirt-v1,level_2,10000,0.5,25,77.56784317751968
-FoldShirt-v1,level_2,15000,0.6,30,152.34612643880502
-FoldShirt-v1,level_2,20000,0.62,31,140.93384002179926
-FoldShirt-v1,level_2,25000,0.56,28,160.46879280454684
-FoldShirt-v1,level_2,30000,0.5,25,111.71872924421727
-FoldShirt-v1,level_2,35000,0.58,29,199.52652104569995
-FoldShirt-v1,level_2,40000,0.72,36,170.07801467537817
-StraightenTwoRopesSequential-v1,level_2,5000,0.32,16,1831.5910737252236
-StraightenTwoRopesSequential-v1,level_2,10000,0.32,16,1816.7860989999772
-StraightenTwoRopesSequential-v1,level_2,15000,0.36,18,1811.211635375023
-StraightenTwoRopesSequential-v1,level_2,20000,0.2,10,2087.010603458881
-StraightenTwoRopesSequential-v1,level_2,25000,0.16,8,2118.8631678271295
-StraightenTwoRopesSequential-v1,level_2,30000,0.24,12,1981.979886984825
-StraightenTwoRopesSequential-v1,level_2,35000,0.28,14,1921.888679959774
-StraightenTwoRopesSequential-v1,level_2,40000,0.28,14,1892.6825481843948
-DualArmOpenBottle-v1,level_2,5000,0.0,0,2160.166076388359
-DualArmOpenBottle-v1,level_2,10000,0.0,0,2153.5597602939606
-DualArmOpenBottle-v1,level_2,15000,0.0,0,2186.192955737114
-DualArmOpenBottle-v1,level_2,20000,0.02,1,2164.021308274269
-DualArmOpenBottle-v1,level_2,25000,0.02,1,2198.19865986824
-DualArmOpenBottle-v1,level_2,30000,0.06,3,2172.774367170334
-DualArmOpenBottle-v1,level_2,35000,0.04,2,2172.3835971689223
-DualArmOpenBottle-v1,level_2,40000,0.02,1,2156.116339635849
-DualArmOpenLaptop-v1,level_2,5000,0.06,3,1662.1150017833709
-DualArmOpenLaptop-v1,level_2,10000,0.14,7,1569.3558869957924
-DualArmOpenLaptop-v1,level_2,15000,0.3,15,1423.962103497982
-DualArmOpenLaptop-v1,level_2,20000,0.28,14,1446.9925638628006
-DualArmOpenLaptop-v1,level_2,25000,0.42,21,1361.7338301420211
-DualArmOpenLaptop-v1,level_2,30000,0.34,17,1400.763299677372
-DualArmOpenLaptop-v1,level_2,35000,0.28,14,1430.9343499541283
-DualArmOpenLaptop-v1,level_2,40000,0.36,18,1398.3386854696273
-DualArmThrowBlock-v1,level_2,5000,0.0,0,-806117.6206517029
-DualArmThrowBlock-v1,level_2,10000,0.0,0,-22608.926204185485
-DualArmThrowBlock-v1,level_2,15000,0.0,0,-15077.627834014893
-DualArmThrowBlock-v1,level_2,20000,0.0,0,-25463.92994615555
-DualArmThrowBlock-v1,level_2,25000,0.0,0,-5637.922432055473
-DualArmThrowBlock-v1,level_2,30000,0.0,0,-36567.06400863647
-DualArmThrowBlock-v1,level_2,35000,0.0,0,-26169.837536344527
-DualArmThrowBlock-v1,level_2,40000,0.0,0,-7810.690715389252
-DualArmPegInHole-v1,level_2,5000,0.18,9,84.89753922495059
-DualArmPegInHole-v1,level_2,10000,0.12,6,61.962898916585836
-DualArmPegInHole-v1,level_2,15000,0.1,5,51.43035095642437
-DualArmPegInHole-v1,level_2,20000,0.08,4,37.64026053449139
-DualArmPegInHole-v1,level_2,25000,0.1,5,34.97058293002657
-DualArmPegInHole-v1,level_2,30000,0.14,7,55.99565888670273
-DualArmPegInHole-v1,level_2,35000,0.12,6,41.83745249252534
-DualArmPegInHole-v1,level_2,40000,0.16,8,52.70686611412093
-GraspTwoBlocks-v1,level_2,5000,0.72,36,199.64137156695128
-GraspTwoBlocks-v1,level_2,10000,0.58,29,215.0543767988682
-GraspTwoBlocks-v1,level_2,15000,0.54,27,222.43316952705382
-GraspTwoBlocks-v1,level_2,20000,0.56,28,216.99497130930425
-GraspTwoBlocks-v1,level_2,25000,0.52,26,224.06823341548443
-GraspTwoBlocks-v1,level_2,30000,0.56,28,224.0523162674904
-GraspTwoBlocks-v1,level_2,35000,0.48,24,226.63711440443993
-GraspTwoBlocks-v1,level_2,40000,0.44,22,236.3215113723278
-HammerNailOut-v1,level_2,5000,0.24,12,-27.080348949953915
-HammerNailOut-v1,level_2,10000,0.3,15,-27.273450547121467
-HammerNailOut-v1,level_2,15000,0.24,12,-27.64660687096417
-HammerNailOut-v1,level_2,20000,0.26,13,-22.220520413033665
-HammerNailOut-v1,level_2,25000,0.38,19,-26.580098412930965
-HammerNailOut-v1,level_2,30000,0.28,14,6.585363882668316
-HammerNailOut-v1,level_2,35000,0.38,19,-26.564064246863126
-HammerNailOut-v1,level_2,40000,0.44,22,-25.41208131439984
-ReorientPen-v1,level_2,5000,0.26,13,111.70928847831674
-ReorientPen-v1,level_2,10000,0.32,16,109.54125524462201
-ReorientPen-v1,level_2,15000,0.36,18,108.74469565531238
-ReorientPen-v1,level_2,20000,0.28,14,110.39952756698709
-ReorientPen-v1,level_2,25000,0.38,19,104.46506033671089
-ReorientPen-v1,level_2,30000,0.28,14,106.68186323479168
-ReorientPen-v1,level_2,35000,0.3,15,104.7015729028359
-ReorientPen-v1,level_2,40000,0.28,14,105.2235934635438
-HangMug-v1,level_2,5000,0.68,34,30.998696595430374
-HangMug-v1,level_2,10000,0.7,35,31.07875474691391
-HangMug-v1,level_2,15000,0.6,30,32.206367956399916
-HangMug-v1,level_2,20000,0.56,28,31.178596129417418
-HangMug-v1,level_2,25000,0.58,29,34.236433204412464
-HangMug-v1,level_2,30000,0.62,31,28.8294646692276
-HangMug-v1,level_2,35000,0.62,31,33.019806396961215
-HangMug-v1,level_2,40000,0.58,29,31.526209642887114
-KitAssembly-v1,level_2,5000,0.0,0,417.955
-KitAssembly-v1,level_2,10000,0.02,1,322.37
-KitAssembly-v1,level_2,15000,0.06,3,423.16
-KitAssembly-v1,level_2,20000,0.06,3,312.665
-KitAssembly-v1,level_2,25000,0.0,0,134.07
-KitAssembly-v1,level_2,30000,0.0,0,232.83
-KitAssembly-v1,level_2,35000,0.0,0,324.45
-KitAssembly-v1,level_2,40000,0.0,0,188.325
-PivotBook-v1,level_2,5000,0.16,8,236.53256025791168
-PivotBook-v1,level_2,10000,0.2,10,143.90750781297683
-PivotBook-v1,level_2,15000,0.38,19,216.95523127913475
-PivotBook-v1,level_2,20000,0.26,13,193.05574815273286
-PivotBook-v1,level_2,25000,0.28,14,231.08132846355437
-PivotBook-v1,level_2,30000,0.28,14,307.9155409657955
-PivotBook-v1,level_2,35000,0.28,14,172.2963804090023
-PivotBook-v1,level_2,40000,0.32,16,197.24141772389413
-DualArmShapeDoll-v1,level_3,5000,0.0,0,440.2142948436737
-DualArmShapeDoll-v1,level_3,10000,0.0,0,433.5211352854967
-DualArmShapeDoll-v1,level_3,15000,0.0,0,439.71059030920264
-DualArmShapeDoll-v1,level_3,20000,0.0,0,448.3843006896973
-DualArmShapeDoll-v1,level_3,25000,0.02,1,455.72908428907397
-DualArmShapeDoll-v1,level_3,30000,0.04,2,438.03986117392776
-DualArmShapeDoll-v1,level_3,35000,0.0,0,455.52062763601543
-DualArmShapeDoll-v1,level_3,40000,0.0,0,453.87199902892115
-DualArmThreadRopeThroughTube-v1,level_3,5000,0.1,5,16.00057137697935
-DualArmThreadRopeThroughTube-v1,level_3,10000,0.06,3,11.549714230298996
-DualArmThreadRopeThroughTube-v1,level_3,15000,0.08,4,9.501999981701374
-DualArmThreadRopeThroughTube-v1,level_3,20000,0.12,6,6.4322856843471525
-DualArmThreadRopeThroughTube-v1,level_3,25000,0.1,5,7.342571413218975
-DualArmThreadRopeThroughTube-v1,level_3,30000,0.1,5,10.025714241862298
-DualArmThreadRopeThroughTube-v1,level_3,35000,0.16,8,7.307999981641769
-DualArmThreadRopeThroughTube-v1,level_3,40000,0.14,7,13.937999838888645
-DualArmWeaveCloth-v1,level_3,5000,0.22,11,98.84533792033791
-DualArmWeaveCloth-v1,level_3,10000,0.12,6,90.26489328891039
-DualArmWeaveCloth-v1,level_3,15000,0.1,5,92.39555996343493
-DualArmWeaveCloth-v1,level_3,20000,0.32,16,111.53422757029533
-DualArmWeaveCloth-v1,level_3,25000,0.1,5,109.8071164008975
-DualArmWeaveCloth-v1,level_3,30000,0.2,10,102.55822728320956
-DualArmWeaveCloth-v1,level_3,35000,0.32,16,113.21956081196666
-DualArmWeaveCloth-v1,level_3,40000,0.18,9,117.1102277545631
-HitBox-v1,level_3,5000,0.0,0,341.86592402637007
-HitBox-v1,level_3,10000,0.0,0,302.5687988591194
-HitBox-v1,level_3,15000,0.04,2,291.51658733904367
-HitBox-v1,level_3,20000,0.0,0,320.2418014472723
-HitBox-v1,level_3,25000,0.06,3,351.1648123627901
-HitBox-v1,level_3,30000,0.0,0,316.49283266067505
-HitBox-v1,level_3,35000,0.04,2,337.8158902138472
-HitBox-v1,level_3,40000,0.0,0,330.6795945161581
-LiquidMeasuring-v1,level_3,5000,0.18,9,124.16856057690921
-LiquidMeasuring-v1,level_3,10000,0.16,8,nan
-LiquidMeasuring-v1,level_3,15000,0.28,14,97.86243267653975
-LiquidMeasuring-v1,level_3,20000,0.18,9,111.7851439455105
-LiquidMeasuring-v1,level_3,25000,0.18,9,118.19692628441379
-LiquidMeasuring-v1,level_3,30000,0.2,10,117.9736181830382
-LiquidMeasuring-v1,level_3,35000,0.32,16,95.25492954222486
-LiquidMeasuring-v1,level_3,40000,0.26,13,118.64093734898138
-DualArmPingpongBalance-v1,level_3,5000,0.02,1,120.94932576864957
-DualArmPingpongBalance-v1,level_3,10000,0.02,1,558.1151409831643
-DualArmPingpongBalance-v1,level_3,15000,0.2,10,762.3643163096905
-DualArmPingpongBalance-v1,level_3,20000,0.06,3,827.9384214293957
-DualArmPingpongBalance-v1,level_3,25000,0.04,2,855.3278978893161
-DualArmPingpongBalance-v1,level_3,30000,0.06,3,936.852864215076
-DualArmPingpongBalance-v1,level_3,35000,0.1,5,918.2753744417429
-DualArmPingpongBalance-v1,level_3,40000,0.14,7,845.8957908791303
-DualArmSetupTable-v1,level_3,5000,0.0,0,66.63242879420518
-DualArmSetupTable-v1,level_3,10000,0.0,0,664.2008750444651
-DualArmSetupTable-v1,level_3,15000,0.0,0,60.804537423849105
-DualArmSetupTable-v1,level_3,20000,0.0,0,226.96615758299828
-DualArmSetupTable-v1,level_3,25000,0.04,2,963.8013223078847
-DualArmSetupTable-v1,level_3,30000,0.0,0,130.08275908350944
-DualArmSetupTable-v1,level_3,35000,0.0,0,66.73280980020762
-DualArmSetupTable-v1,level_3,40000,0.04,2,1395.3220165485143
-DualArmOpenFridge-v1,level_3,5000,0.0,0,1425.2416665172577
-DualArmOpenFridge-v1,level_3,10000,0.0,0,1425.2351796388625
-DualArmOpenFridge-v1,level_3,15000,0.0,0,1425.235145483017
-DualArmOpenFridge-v1,level_3,20000,0.0,0,1425.2351254606247
-DualArmOpenFridge-v1,level_3,25000,0.0,0,1425.2351526212692
-DualArmOpenFridge-v1,level_3,30000,0.0,0,1425.235009675026
-DualArmOpenFridge-v1,level_3,35000,0.0,0,1425.2351335525514
-DualArmOpenFridge-v1,level_3,40000,0.0,0,1425.2403667545318
-HammerNail-v1,level_3,5000,0.04,2,-58.59067942216993
-HammerNail-v1,level_3,10000,0.06,3,-58.978516302481296
-HammerNail-v1,level_3,15000,0.1,5,nan
-HammerNail-v1,level_3,20000,0.06,3,-58.93580446228385
-HammerNail-v1,level_3,25000,0.1,5,-53.304630602933464
-HammerNail-v1,level_3,30000,0.08,4,-57.3198606460169
-HammerNail-v1,level_3,35000,0.12,6,nan
-HammerNail-v1,level_3,40000,0.1,5,-59.44200713545084
-MobilePickPlace-v1,level_3,5000,0.04,2,nan
-MobilePickPlace-v1,level_3,10000,0.0,0,nan
-MobilePickPlace-v1,level_3,15000,0.08,4,nan
-MobilePickPlace-v1,level_3,20000,0.06,3,nan
-MobilePickPlace-v1,level_3,25000,0.02,1,nan
-MobilePickPlace-v1,level_3,30000,0.02,1,nan
-MobilePickPlace-v1,level_3,35000,0.04,2,169.25979777826228
-MobilePickPlace-v1,level_3,40000,0.04,2,nan
-TweezersPickPlace-v1,level_3,5000,0.0,0,-150.75219471901656
-TweezersPickPlace-v1,level_3,10000,0.0,0,-149.61620528012514
-TweezersPickPlace-v1,level_3,15000,0.0,0,-144.82497310459613
-TweezersPickPlace-v1,level_3,20000,0.0,0,-149.89631738722323
-TweezersPickPlace-v1,level_3,25000,0.0,0,-148.6842001259327
-TweezersPickPlace-v1,level_3,30000,0.0,0,-135.40562374919654
-TweezersPickPlace-v1,level_3,35000,0.0,0,-147.4044314825535
-TweezersPickPlace-v1,level_3,40000,0.0,0,-141.0583949536085
-Stack6Blocks-v1,level_3,5000,0.0,0,1412.5191994094848
-Stack6Blocks-v1,level_3,10000,0.0,0,1416.759504970312
-Stack6Blocks-v1,level_3,15000,0.0,0,1410.7229782146214
-Stack6Blocks-v1,level_3,20000,0.0,0,1404.6906222903729
-Stack6Blocks-v1,level_3,25000,0.0,0,1405.1263322007655
-Stack6Blocks-v1,level_3,30000,0.0,0,1418.389272699356
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-Stack6Blocks-v1,level_3,40000,0.0,0,1405.1851704609394
-DualArmJumpRope-v1,level_4,5000,0.0,0,22.843300541203806
-DualArmJumpRope-v1,level_4,10000,0.0,0,nan
-DualArmJumpRope-v1,level_4,15000,0.0,0,nan
-DualArmJumpRope-v1,level_4,20000,0.02,1,nan
-DualArmJumpRope-v1,level_4,25000,0.0,0,241.48174225551077
-DualArmJumpRope-v1,level_4,30000,0.0,0,274.7488127852185
-DualArmJumpRope-v1,level_4,35000,0.02,1,309.5667886263051
-DualArmJumpRope-v1,level_4,40000,0.0,0,nan
-DualArmClothHanger-v1,level_4,5000,0.0,0,144.01372902154924
-DualArmClothHanger-v1,level_4,10000,0.0,0,111.90421493053437
-DualArmClothHanger-v1,level_4,15000,0.0,0,126.82437116622924
-DualArmClothHanger-v1,level_4,20000,0.0,0,159.40660739541053
-DualArmClothHanger-v1,level_4,25000,0.0,0,145.93114191770553
-DualArmClothHanger-v1,level_4,30000,0.0,0,121.72392417907714
-DualArmClothHanger-v1,level_4,35000,0.0,0,118.61773026943207
-DualArmClothHanger-v1,level_4,40000,0.0,0,116.59107458353043
-BuildTent-v1,level_4,5000,0.04,2,0.3500000035762787
-BuildTent-v1,level_4,10000,0.06,3,0.3800000047683716
-BuildTent-v1,level_4,15000,0.0,0,0.17800000190734863
-BuildTent-v1,level_4,20000,0.04,2,0.33200000286102294
-BuildTent-v1,level_4,25000,0.02,1,0.26600000381469724
-BuildTent-v1,level_4,30000,0.02,1,0.21800000071525574
-BuildTent-v1,level_4,35000,0.04,2,0.36600000500679014
-BuildTent-v1,level_4,40000,0.02,1,0.25800000309944154
-DualArmFlipTable-v1,level_4,5000,0.0,0,122.98795611858368
-DualArmFlipTable-v1,level_4,10000,0.0,0,-177.15296366930008
-DualArmFlipTable-v1,level_4,15000,0.0,0,-55.19636809825897
-DualArmFlipTable-v1,level_4,20000,0.0,0,547.2522929406166
-DualArmFlipTable-v1,level_4,25000,0.0,0,978.8827704238892
-DualArmFlipTable-v1,level_4,30000,0.0,0,1204.2270613360406
-DualArmFlipTable-v1,level_4,35000,0.0,0,624.2033227038384
-DualArmFlipTable-v1,level_4,40000,0.0,0,20.777628951072693
-DualArmKeyboardType-v1,level_4,5000,0.0,0,-248.3057014244236
-DualArmKeyboardType-v1,level_4,10000,0.0,0,-237.66442889969795
-DualArmKeyboardType-v1,level_4,20000,0.0,0,-246.98060533750336
-DualArmKeyboardType-v1,level_4,25000,0.0,0,-230.77981589608186
-DualArmKeyboardType-v1,level_4,30000,0.0,0,-244.4625939191133
-DualArmKeyboardType-v1,level_4,35000,0.0,0,-246.3290418352792
-DualArmKeyboardType-v1,level_4,40000,0.0,0,-243.75864611959085
-DualArmSendPingpong-v1,level_4,5000,0.0,0,493.29558154344556
-DualArmSendPingpong-v1,level_4,10000,0.02,1,437.45649006843564
-DualArmSendPingpong-v1,level_4,15000,0.0,0,556.9836190354824
-DualArmSendPingpong-v1,level_4,20000,0.0,0,484.0609417641163
-DualArmSendPingpong-v1,level_4,25000,0.0,0,494.965841627121
-DualArmSendPingpong-v1,level_4,30000,0.0,0,477.9118604850769
-DualArmSendPingpong-v1,level_4,35000,0.06,3,481.6546700167656
-DualArmSendPingpong-v1,level_4,40000,0.08,4,476.9731384050846
-DualArmShootBasketball-v1,level_4,5000,0.0,0,-124.416729821607
-DualArmShootBasketball-v1,level_4,10000,0.0,0,-128.97785466102417
-DualArmShootBasketball-v1,level_4,15000,0.0,0,-123.21594117723347
-DualArmShootBasketball-v1,level_4,20000,0.0,0,-119.13311796374502
-DualArmShootBasketball-v1,level_4,25000,0.0,0,-119.39706527374976
-DualArmShootBasketball-v1,level_4,30000,0.0,0,-115.1265727031979
-DualArmShootBasketball-v1,level_4,35000,0.0,0,-118.29808492508077
-DualArmShootBasketball-v1,level_4,40000,0.0,0,-117.65816518728622
-DualArmBallClassify-v1,level_4,10000,0.0,0,3305.200233145058
-DualArmBallClassify-v1,level_4,15000,0.0,0,2958.5908711349966
-DualArmBallClassify-v1,level_4,20000,0.0,0,2099.2708752262592
-DualArmBallClassify-v1,level_4,25000,0.0,0,2537.1459140840175
-DualArmBallClassify-v1,level_4,30000,0.0,0,2231.6329792255165
-DualArmBallClassify-v1,level_4,35000,0.0,0,2274.1544187426566
-DualArmBallClassify-v1,level_4,40000,0.0,0,2516.529187646508
-DualArmBilliardBridge-v1,level_4,5000,0.0,0,1187.845783996582
-DualArmBilliardBridge-v1,level_4,10000,0.0,0,1188.226076245308
-DualArmBilliardBridge-v1,level_4,15000,0.0,0,1175.9384981024266
-DualArmBilliardBridge-v1,level_4,20000,0.0,0,1180.3857240962982
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-DualArmBilliardBridge-v1,level_4,35000,0.0,0,1173.2626583218575
-DualArmBilliardBridge-v1,level_4,40000,0.0,0,1188.2963494682313
-DualArmMahjongSetup-v1,level_4,5000,0.02,1,nan
-DualArmMahjongSetup-v1,level_4,10000,0.0,0,nan
-DualArmMahjongSetup-v1,level_4,15000,0.0,0,nan
-DualArmMahjongSetup-v1,level_4,20000,0.0,0,nan
-DualArmMahjongSetup-v1,level_4,25000,0.0,0,nan
-DualArmMahjongSetup-v1,level_4,30000,0.0,0,nan
-DualArmMahjongSetup-v1,level_4,35000,0.0,0,nan
-DualArmMahjongSetup-v1,level_4,40000,0.0,0,nan
-FitnessBall-v1,level_4,5000,0.0,0,-6493.543452997208
-FitnessBall-v1,level_4,10000,0.0,0,-6459.505335321426
-FitnessBall-v1,level_4,15000,0.0,0,-6479.7505559539795
-FitnessBall-v1,level_4,20000,0.0,0,-6467.865859689712
-FitnessBall-v1,level_4,25000,0.0,0,-6462.608285160065
-FitnessBall-v1,level_4,30000,0.0,0,-6480.244885673523
-FitnessBall-v1,level_4,35000,0.0,0,-6472.69580080986
-FitnessBall-v1,level_4,40000,0.0,0,-6466.33156788826
-RodThroughHoles-v1,level_4,5000,0.02,1,678.4349171388521
-RodThroughHoles-v1,level_4,10000,0.02,1,724.497755086273
-RodThroughHoles-v1,level_4,15000,0.0,0,560.2698704089597
-RodThroughHoles-v1,level_4,20000,0.0,0,656.1754601595178
-RodThroughHoles-v1,level_4,25000,0.0,0,648.2634786164016
-RodThroughHoles-v1,level_4,30000,0.0,0,nan
-RodThroughHoles-v1,level_4,35000,0.0,0,786.6771039431542
-RodThroughHoles-v1,level_4,40000,0.0,0,695.7203879581019
-SpinPenHora-v1,level_4,5000,0.0,0,109.36473869925831
-SpinPenHora-v1,level_4,10000,0.0,0,118.44748042443622
-SpinPenHora-v1,level_4,15000,0.0,0,104.3372119428232
-SpinPenHora-v1,level_4,20000,0.0,0,115.02319976602739
-SpinPenHora-v1,level_4,25000,0.0,0,85.35689656842325
-SpinPenHora-v1,level_4,30000,0.0,0,101.41080370466312
-SpinPenHora-v1,level_4,35000,0.0,0,110.3295705687703
-SpinPenHora-v1,level_4,40000,0.0,0,108.75212575052865
-TennisRally-v1,level_4,5000,0.02,1,357.17158117782327
-TennisRally-v1,level_4,10000,0.02,1,582.0495989676378
-TennisRally-v1,level_4,15000,0.06,3,631.176888383422
-TennisRally-v1,level_4,20000,0.02,1,664.8420089965593
-TennisRally-v1,level_4,25000,0.06,3,660.3962393769901
-TennisRally-v1,level_4,30000,0.04,2,564.6722093473934
-TennisRally-v1,level_4,35000,0.0,0,592.2262566924281
-TennisRally-v1,level_4,40000,0.06,3,668.7410189095605
-FlipPan-v1,level_4,5000,0.0,0,1850.3694087743759
-FlipPan-v1,level_4,10000,0.0,0,1619.979951660037
-FlipPan-v1,level_4,15000,0.0,0,1598.9930662673712
-FlipPan-v1,level_4,20000,0.0,0,768.4725514292717
-FlipPan-v1,level_4,25000,0.0,0,1004.3939337867498
-FlipPan-v1,level_4,30000,0.0,0,1547.7505061429738
-FlipPan-v1,level_4,35000,0.0,0,1257.2300715255737
-FlipPan-v1,level_4,40000,0.04,2,1115.2483033573628
-HitBilliard-v1,level_4,5000,0.0,0,852.1505782365799
-HitBilliard-v1,level_4,10000,0.0,0,838.0057423710823
-HitBilliard-v1,level_4,15000,0.0,0,817.1832637572288
-HitBilliard-v1,level_4,20000,0.0,0,819.156718518734
-HitBilliard-v1,level_4,25000,0.0,0,763.028509516716
-HitBilliard-v1,level_4,30000,0.0,0,806.5827033662796
-HitBilliard-v1,level_4,35000,0.0,0,795.0292140698433
-HitBilliard-v1,level_4,40000,0.0,0,794.3330316150189
-PingPongBallTransport-v1,level_4,5000,0.0,0,280.424271569252
-PingPongBallTransport-v1,level_4,15000,0.02,1,481.7520525765419
-PingPongBallTransport-v1,level_4,20000,0.06,3,1191.8369809103012
-PingPongBallTransport-v1,level_4,25000,0.1,5,1601.3661450529098
-PingPongBallTransport-v1,level_4,30000,0.0,0,828.809775466919
-PingPongBallTransport-v1,level_4,35000,0.08,4,1499.5457893419266
-PingPongBallTransport-v1,level_4,40000,0.16,8,1567.3499554800987
-RingTossing-v1,level_4,5000,0.0,0,-2867.2832674495876
-RingTossing-v1,level_4,10000,0.0,0,-3205.7201180787383
-RingTossing-v1,level_4,15000,0.0,0,-3219.2910319840908
-RingTossing-v1,level_4,20000,0.0,0,-3174.6684483157096
-RingTossing-v1,level_4,25000,0.0,0,-3033.330185411349
-RingTossing-v1,level_4,30000,0.0,0,-3175.8641105918587
-RingTossing-v1,level_4,35000,0.0,0,-3372.0425525617597
-RingTossing-v1,level_4,40000,0.0,0,-3147.3354511817543

+task,level,step,success,successes,return_mean
+DrapeCloth-v1,level_1,5000,0.98,49,7.240049222956877
+DrapeCloth-v1,level_1,10000,1.0,50,6.705576679435153
+DrapeCloth-v1,level_1,15000,1.0,50,6.678060550417867
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+DrapeCloth-v1,level_1,35000,1.0,50,6.938598288464127
+DrapeCloth-v1,level_1,40000,0.98,49,7.355344208083116
+DualArmButtonPress-v1,level_1,5000,0.98,49,97.12502707958221
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+DualArmButtonPress-v1,level_1,15000,0.92,46,110.15575822591782
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+DualArmButtonPress-v1,level_1,25000,0.86,43,123.27124275445938
+DualArmButtonPress-v1,level_1,30000,0.84,42,128.5457330584526
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+DualArmButtonPress-v1,level_1,40000,0.86,43,122.83211128234863
+DualArmCoverCloth-v1,level_1,5000,0.24,12,192.1267825967567
+DualArmCoverCloth-v1,level_1,10000,0.34,17,198.25729583896697
+DualArmCoverCloth-v1,level_1,15000,0.8,40,144.4165011787426
+DualArmCoverCloth-v1,level_1,20000,0.4,20,181.82558477331418
+DualArmCoverCloth-v1,level_1,25000,0.22,11,193.93926194417057
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+DualArmCoverCloth-v1,level_1,40000,0.42,21,162.59602199232438
+DualArmDoubleDoorBox-v1,level_1,5000,0.68,34,91.16492497935891
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+DualArmDoubleDoorBox-v1,level_1,20000,0.82,41,75.68181383684278
+DualArmDoubleDoorBox-v1,level_1,25000,0.76,38,82.87598679304124
+DualArmDoubleDoorBox-v1,level_1,30000,0.8,40,77.1645249465108
+DualArmDoubleDoorBox-v1,level_1,35000,0.74,37,84.0204285466671
+DualArmDoubleDoorBox-v1,level_1,40000,0.82,41,79.97495194137096
+DualArmFoldHandKerchief-v1,level_1,5000,0.74,37,-13.995554169416428
+DualArmFoldHandKerchief-v1,level_1,10000,0.66,33,-23.69535655915737
+DualArmFoldHandKerchief-v1,level_1,15000,0.58,29,-23.868244435489178
+DualArmFoldHandKerchief-v1,level_1,20000,0.64,32,-25.854803668856622
+DualArmFoldHandKerchief-v1,level_1,25000,0.6,30,-21.692682106494903
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+DualArmFoldHandKerchief-v1,level_1,35000,0.62,31,-25.837230781018732
+DualArmFoldHandKerchief-v1,level_1,40000,0.54,27,-19.315329426825045
+DualArmHammerHandover-v1,level_1,5000,0.7,35,387.5368073941022
+DualArmHammerHandover-v1,level_1,10000,0.62,31,450.44439456932247
+DualArmHammerHandover-v1,level_1,15000,0.7,35,422.8597735219449
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+DualArmHammerHandover-v1,level_1,40000,0.58,29,437.1043484508991
+DualArmOpenPen-v1,level_1,5000,0.34,17,848.7281628412009
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+DualArmOpenPen-v1,level_1,15000,0.2,10,805.6612854599953
+DualArmOpenPen-v1,level_1,20000,0.34,17,837.3289239484071
+DualArmOpenPen-v1,level_1,25000,0.22,11,nan
+DualArmOpenPen-v1,level_1,30000,0.22,11,826.5384598797559
+DualArmOpenPen-v1,level_1,35000,0.36,18,798.6847934004664
+DualArmOpenPen-v1,level_1,40000,0.28,14,nan
+DualArmOpenScissor-v1,level_1,5000,0.08,4,507.37905722975734
+DualArmOpenScissor-v1,level_1,10000,0.36,18,384.52778609871865
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+DualArmOpenScissor-v1,level_1,40000,0.68,34,367.1844854807854
+DualArmPressButton-v1,level_1,5000,0.6,30,149.87792184352875
+DualArmPressButton-v1,level_1,10000,0.7,35,137.31739033937455
+DualArmPressButton-v1,level_1,15000,0.8,40,128.96079565525054
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+DualArmPressButton-v1,level_1,25000,0.76,38,131.4377052807808
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+DualArmPressButton-v1,level_1,40000,0.76,38,132.54360018491744
+DualArmRopeCylinderWarpping-v1,level_1,5000,0.56,28,88.58144970148801
+DualArmRopeCylinderWarpping-v1,level_1,10000,0.62,31,81.67051498234272
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+DualArmRopeStretch-v1,level_1,10000,0.92,46,186.05761841654777
+DualArmRopeStretch-v1,level_1,15000,0.92,46,183.99752925515176
+DualArmRopeStretch-v1,level_1,20000,0.82,41,195.065522377491
+DualArmRopeStretch-v1,level_1,25000,0.82,41,195.7638722229004
+DualArmRopeStretch-v1,level_1,30000,0.86,43,191.87583116173744
+DualArmRopeStretch-v1,level_1,35000,0.76,38,202.07684795379637
+DualArmRopeStretch-v1,level_1,40000,0.76,38,201.48189628362655
+GraspCylinder-v1,level_1,5000,0.9,45,24.33076073028518
+GraspCylinder-v1,level_1,10000,0.9,45,24.851561762759992
+GraspCylinder-v1,level_1,15000,0.94,47,25.653659981940546
+GraspCylinder-v1,level_1,20000,0.9,45,24.57017223808127
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+GraspCylinder-v1,level_1,35000,0.94,47,25.841893786347146
+GraspCylinder-v1,level_1,40000,0.9,45,25.292166099923634
+LiftBucket-v1,level_1,5000,0.2,10,163.83099677085877
+LiftBucket-v1,level_1,10000,0.94,47,98.44282671809196
+LiftBucket-v1,level_1,15000,0.84,42,106.98082929849625
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+LiftBucket-v1,level_1,40000,0.96,48,96.80372586607933
+OpenDoor-v1,level_1,5000,0.3,15,81.66296870330603
+OpenDoor-v1,level_1,10000,0.24,12,93.23127404245614
+OpenDoor-v1,level_1,15000,0.24,12,47.44674762370511
+OpenDoor-v1,level_1,20000,0.2,10,80.22020105135914
+OpenDoor-v1,level_1,25000,0.2,10,69.365043020613
+OpenDoor-v1,level_1,30000,0.26,13,60.57508714767713
+OpenDoor-v1,level_1,35000,0.22,11,52.8616152550091
+OpenDoor-v1,level_1,40000,0.18,9,61.84445682378205
+PickPlacePen-v1,level_1,5000,0.2,10,58.34850861787796
+PickPlacePen-v1,level_1,10000,0.26,13,102.91128782510758
+PickPlacePen-v1,level_1,15000,0.34,17,109.48091080307961
+PickPlacePen-v1,level_1,20000,0.36,18,95.0536512184143
+PickPlacePen-v1,level_1,25000,0.26,13,111.45588166356087
+PickPlacePen-v1,level_1,30000,0.22,11,117.25063677191734
+PickPlacePen-v1,level_1,35000,0.26,13,117.22585187792778
+PickPlacePen-v1,level_1,40000,0.32,16,112.43077191233635
+PushSoccer-v1,level_1,5000,0.64,32,63.92137126088142
+PushSoccer-v1,level_1,10000,0.66,33,65.62150128126144
+PushSoccer-v1,level_1,15000,0.72,36,61.28525426745415
+PushSoccer-v1,level_1,20000,0.78,39,53.52894441485405
+PushSoccer-v1,level_1,25000,0.76,38,55.87276070356369
+PushSoccer-v1,level_1,30000,0.76,38,60.96458682656288
+PushSoccer-v1,level_1,35000,0.76,38,56.6934594810009
+PushSoccer-v1,level_1,40000,0.8,40,55.96963231444359
+RopePalmCageHoldDex-v1,level_1,5000,0.94,47,58.918224368095395
+RopePalmCageHoldDex-v1,level_1,10000,0.8,40,65.04999831333757
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+RopePalmCageHoldDex-v1,level_1,20000,0.82,41,62.921965073496104
+RopePalmCageHoldDex-v1,level_1,25000,0.84,42,63.20006484284997
+RopePalmCageHoldDex-v1,level_1,30000,0.88,44,61.99557837814093
+RopePalmCageHoldDex-v1,level_1,35000,0.88,44,62.34238040417433
+RopePalmCageHoldDex-v1,level_1,40000,0.86,43,62.77147597208619
+ShapeTToI-v1,level_1,5000,0.38,19,-51.76338378688067
+ShapeTToI-v1,level_1,10000,0.2,10,-92.62490648184422
+ShapeTToI-v1,level_1,15000,0.28,14,-55.08538683112492
+ShapeTToI-v1,level_1,20000,0.36,18,-54.83704529752907
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+StackBlock-v1,level_1,5000,0.34,17,60.70527795791626
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+StackBlock-v1,level_1,35000,0.32,16,74.57158008217812
+StackBlock-v1,level_1,40000,0.32,16,69.72689729571343
+StraightenRope-v1,level_1,5000,0.82,41,175.76045351684093
+StraightenRope-v1,level_1,10000,0.7,35,199.53290253043176
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+StraightenRope-v1,level_1,25000,0.8,40,181.14847286939622
+StraightenRope-v1,level_1,30000,0.8,40,180.39312297582626
+StraightenRope-v1,level_1,35000,0.84,42,174.03176378011705
+StraightenRope-v1,level_1,40000,0.72,36,187.22218771636486
+TurnOnFaucet-v1,level_1,5000,0.84,42,14.629086217982696
+TurnOnFaucet-v1,level_1,10000,0.92,46,16.862867071165237
+TurnOnFaucet-v1,level_1,15000,0.86,43,15.642866224958563
+TurnOnFaucet-v1,level_1,20000,0.88,44,15.11060263212072
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+TurnOnFaucet-v1,level_1,40000,0.84,42,14.696782298122711
+UnfoldShirt-v1,level_1,5000,0.78,39,1.9820125445762824
+UnfoldShirt-v1,level_1,10000,0.52,26,1.602829671468353
+UnfoldShirt-v1,level_1,15000,0.62,31,1.7269025978352874
+UnfoldShirt-v1,level_1,20000,0.7,35,1.8558352427463978
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single_task/pi05_retrain_eval50_20261022_manifest.json ADDED Viewed

	@@ -0,0 +1,322 @@

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+      "checkpoint": "single_task/DualArmOpenScissor-v1/lora_step_0015000.npz",
+      "checkpoint_sha256": "1d5451a15c3909e523571afa22a6e2caa48a07c23bbf49a2d2c7d4efb53066d2"
+    },
+    {
+      "task": "DualArmPressButton-v1",
+      "level": "level_1",
+      "suite": "rigid_body/dual_arm_dex",
+      "step": 15000,
+      "success_rate": 0.8,
+      "successes": 40,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 8,
+      "missing_eval_steps": [],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/DualArmPressButton-v1/lora_step_0015000.npz",
+      "checkpoint_sha256": "609e2d3373f92e3a046d28e5b00176f923df319f308e1d8681d13f2ca6676ff2"
+    },
+    {
+      "task": "DualArmDoubleDoorBox-v1",
+      "level": "level_1",
+      "suite": "rigid_body/dual_arm_gripper",
+      "step": 20000,
+      "success_rate": 0.82,
+      "successes": 41,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 8,
+      "missing_eval_steps": [],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/DualArmDoubleDoorBox-v1/lora_step_0020000.npz",
+      "checkpoint_sha256": "6c933ea69614b427f39ed8c6cdf629cc70249b80aef7d514aa6b86a49bab13f9"
+    },
+    {
+      "task": "DualArmHammerHandover-v1",
+      "level": "level_1",
+      "suite": "rigid_body/dual_arm_gripper",
+      "step": 25000,
+      "success_rate": 0.74,
+      "successes": 37,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 8,
+      "missing_eval_steps": [],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/DualArmHammerHandover-v1/lora_step_0025000.npz",
+      "checkpoint_sha256": "dada945de75d809c67629bc0919bf55729db5a600f1ce7627ff3d1f5016fec90"
+    },
+    {
+      "task": "StackBlock-v1",
+      "level": "level_1",
+      "suite": "rigid_body/single_arm_gripper",
+      "step": 15000,
+      "success_rate": 0.46,
+      "successes": 23,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 8,
+      "missing_eval_steps": [],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/StackBlock-v1/lora_step_0015000.npz",
+      "checkpoint_sha256": "11f779d282d3591e0e57b83ccb827e73b078e1105c4c431666e57f275bbbfc9c"
+    },
+    {
+      "task": "DualArmStraightenRope-v1",
+      "level": "level_2",
+      "suite": "deformable/dual_arm_gripper",
+      "step": 35000,
+      "success_rate": 0.48,
+      "successes": 24,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 7,
+      "missing_eval_steps": [
+        20000
+      ],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/DualArmStraightenRope-v1/lora_step_0035000.npz",
+      "checkpoint_sha256": "057ad6ce58a2019cf1762b4ff8284a6f475e4a17875e6a6a56a82c9b621f1482"
+    },
+    {
+      "task": "DualArmJugglingBall-v1",
+      "level": "level_2",
+      "suite": "rigid_body/dual_arm_dex",
+      "step": 40000,
+      "success_rate": 0.06,
+      "successes": 3,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 7,
+      "missing_eval_steps": [
+        25000
+      ],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/DualArmJugglingBall-v1/lora_step_0040000.npz",
+      "checkpoint_sha256": "2946010d864c450befa58fa7231d50b44834dde6a2747dc3fdfeb5e62a0ec6d0"
+    },
+    {
+      "task": "DualArmBookPickPlace-v1",
+      "level": "level_2",
+      "suite": "rigid_body/dual_arm_gripper",
+      "step": 15000,
+      "success_rate": 0.56,
+      "successes": 28,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 8,
+      "missing_eval_steps": [],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/DualArmBookPickPlace-v1/lora_step_0015000.npz",
+      "checkpoint_sha256": "5773a27421414aa7c5f4685f7850f33206a2b28e120cec495de3183c20568fda"
+    },
+    {
+      "task": "DualArmCleanupPotEnv-v1",
+      "level": "level_2",
+      "suite": "rigid_body/dual_arm_gripper",
+      "step": 35000,
+      "success_rate": 0.38,
+      "successes": 19,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 7,
+      "missing_eval_steps": [
+        25000
+      ],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/DualArmCleanupPotEnv-v1/lora_step_0035000.npz",
+      "checkpoint_sha256": "ab0e52467b487b001f2b9c6db488130511b522d7ff4711fb54df13db1d2e8c04"
+    },
+    {
+      "task": "DualArmLiftBall-v1",
+      "level": "level_2",
+      "suite": "rigid_body/dual_arm_gripper",
+      "step": 35000,
+      "success_rate": 0.54,
+      "successes": 27,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 8,
+      "missing_eval_steps": [],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/DualArmLiftBall-v1/lora_step_0035000.npz",
+      "checkpoint_sha256": "026a3c14c695c9d69ad36ec92476e2041269418d3dd54ea001d83d5fe31ffd2e"
+    },
+    {
+      "task": "DexOpenDoor-v1",
+      "level": "level_2",
+      "suite": "rigid_body/single_arm_dex",
+      "step": 5000,
+      "success_rate": 0.56,
+      "successes": 28,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 8,
+      "missing_eval_steps": [],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/DexOpenDoor-v1/lora_step_0005000.npz",
+      "checkpoint_sha256": "bb3ab65baec9e8ef00dffeaf6322bcf590ff037d101d8bdcae465e5e2e370550"
+    },
+    {
+      "task": "OpenBoxRetrieval-v1",
+      "level": "level_2",
+      "suite": "rigid_body/single_arm_gripper",
+      "step": 25000,
+      "success_rate": 0.38,
+      "successes": 19,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 8,
+      "missing_eval_steps": [],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/OpenBoxRetrieval-v1/lora_step_0025000.npz",
+      "checkpoint_sha256": "b858acf75193cd88dd0e6d6a3e9d6ed573f4e37044576d3bd314996e7825da79"
+    },
+    {
+      "task": "SeparateTwoRopesEnv-v1",
+      "level": "level_3",
+      "suite": "deformable/single_arm_gripper",
+      "step": 35000,
+      "success_rate": 0.26,
+      "successes": 13,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 7,
+      "missing_eval_steps": [
+        15000
+      ],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/SeparateTwoRopesEnv-v1/lora_step_0035000.npz",
+      "checkpoint_sha256": "eef8a5ec266b8954a0760c062dc9f8d7e4c3bab7b6ab6f23bbe377feebd43fab"
+    },
+    {
+      "task": "DualArmPlugCharger-v1",
+      "level": "level_3",
+      "suite": "rigid_body/dual_arm_dex",
+      "step": 5000,
+      "success_rate": 0.0,
+      "successes": 0,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 8,
+      "missing_eval_steps": [],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/DualArmPlugCharger-v1/lora_step_0005000.npz",
+      "checkpoint_sha256": "9ec70795a17dbc33ac7fcc21a8eeb343d2a4844813aee8048c2e4dd60be77a2b"
+    },
+    {
+      "task": "GroceryPrepare-v1",
+      "level": "level_3",
+      "suite": "rigid_body/single_arm_gripper",
+      "step": 5000,
+      "success_rate": 0.0,
+      "successes": 0,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 7,
+      "missing_eval_steps": [
+        25000
+      ],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/GroceryPrepare-v1/lora_step_0005000.npz",
+      "checkpoint_sha256": "2637211780b9206a89070127bfcdb0b374cf0556ad2ca237a26e7dd8f69ea55a"
+    },
+    {
+      "task": "PushTargetPose-v1",
+      "level": "level_3",
+      "suite": "rigid_body/single_arm_gripper",
+      "step": 30000,
+      "success_rate": 0.02,
+      "successes": 1,
+      "episodes": 50,
+      "episode_seed_base": 800000,
+      "ckpts_evaluated": 8,
+      "missing_eval_steps": [],
+      "campaign": "pi05_retrain_eval50_20261022",
+      "checkpoint": "single_task/PushTargetPose-v1/lora_step_0030000.npz",
+      "checkpoint_sha256": "d21927e528775e83898b71e10b48af9c3fec4a2f74e395990d37bc324364ec74"
+    }
+  ]
+}

single_task/results.csv CHANGED Viewed

@@ -1,61 +1,81 @@
 task,level,best_step,success_rate_50ep,successes,ckpts_evaluated,file
 DualArmCoverCloth-v1,level_1,15000,0.8,40,8,single_task/DualArmCoverCloth-v1/lora_step_0015000.npz
-DualArmRopeStretch-v1,level_1,10000,0.92,46,8,single_task/DualArmRopeStretch-v1/lora_step_0010000.npz
 DualArmFoldHandKerchief-v1,level_1,5000,0.74,37,8,single_task/DualArmFoldHandKerchief-v1/lora_step_0005000.npz
-DualArmRopeCylinderWarpping-v1,level_1,10000,0.62,31,8,single_task/DualArmRopeCylinderWarpping-v1/lora_step_0010000.npz
-RopePalmCageHoldDex-v1,level_1,5000,0.94,47,8,single_task/RopePalmCageHoldDex-v1/lora_step_0005000.npz
 DualArmOpenPen-v1,level_1,35000,0.36,18,8,single_task/DualArmOpenPen-v1/lora_step_0035000.npz
-DualArmButtonPress-v1,level_1,5000,0.98,49,8,single_task/DualArmButtonPress-v1/lora_step_0005000.npz
 GraspCylinder-v1,level_1,15000,0.94,47,8,single_task/GraspCylinder-v1/lora_step_0015000.npz
 LiftBucket-v1,level_1,40000,0.96,48,8,single_task/LiftBucket-v1/lora_step_0040000.npz
-TurnOnFaucet-v1,level_1,10000,0.92,46,8,single_task/TurnOnFaucet-v1/lora_step_0010000.npz
 OpenDoor-v1,level_1,5000,0.3,15,8,single_task/OpenDoor-v1/lora_step_0005000.npz
 PickPlacePen-v1,level_1,20000,0.36,18,8,single_task/PickPlacePen-v1/lora_step_0020000.npz
 PushSoccer-v1,level_1,40000,0.8,40,8,single_task/PushSoccer-v1/lora_step_0040000.npz
-DualArmPlaceRopeOverRod-v1,level_2,40000,0.46,23,8,single_task/DualArmPlaceRopeOverRod-v1/lora_step_0040000.npz
-DualArmStuffCloth-v1,level_2,15000,0.4,20,8,single_task/DualArmStuffCloth-v1/lora_step_0015000.npz
-DualArmClothAlign-v1,level_2,40000,0.38,19,8,single_task/DualArmClothAlign-v1/lora_step_0040000.npz
 ClothWipe-v1,level_2,25000,0.52,26,8,single_task/ClothWipe-v1/lora_step_0025000.npz
-RollingPin-v1,level_2,25000,0.96,48,8,single_task/RollingPin-v1/lora_step_0025000.npz
-FoldShirt-v1,level_2,40000,0.72,36,8,single_task/FoldShirt-v1/lora_step_0040000.npz
-StraightenTwoRopesSequential-v1,level_2,15000,0.36,18,8,single_task/StraightenTwoRopesSequential-v1/lora_step_0015000.npz
 DualArmOpenBottle-v1,level_2,30000,0.06,3,8,single_task/DualArmOpenBottle-v1/lora_step_0030000.npz
 DualArmOpenLaptop-v1,level_2,25000,0.42,21,8,single_task/DualArmOpenLaptop-v1/lora_step_0025000.npz
-DualArmThrowBlock-v1,level_2,5000,0.0,0,8,single_task/DualArmThrowBlock-v1/lora_step_0005000.npz
 DualArmPegInHole-v1,level_2,5000,0.18,9,8,single_task/DualArmPegInHole-v1/lora_step_0005000.npz
 GraspTwoBlocks-v1,level_2,5000,0.72,36,8,single_task/GraspTwoBlocks-v1/lora_step_0005000.npz
 HammerNailOut-v1,level_2,40000,0.44,22,8,single_task/HammerNailOut-v1/lora_step_0040000.npz
-ReorientPen-v1,level_2,25000,0.38,19,8,single_task/ReorientPen-v1/lora_step_0025000.npz
 HangMug-v1,level_2,10000,0.7,35,8,single_task/HangMug-v1/lora_step_0010000.npz
 KitAssembly-v1,level_2,15000,0.06,3,8,single_task/KitAssembly-v1/lora_step_0015000.npz
 PivotBook-v1,level_2,15000,0.38,19,8,single_task/PivotBook-v1/lora_step_0015000.npz
 DualArmShapeDoll-v1,level_3,30000,0.04,2,8,single_task/DualArmShapeDoll-v1/lora_step_0030000.npz
 DualArmThreadRopeThroughTube-v1,level_3,35000,0.16,8,8,single_task/DualArmThreadRopeThroughTube-v1/lora_step_0035000.npz
 DualArmWeaveCloth-v1,level_3,20000,0.32,16,8,single_task/DualArmWeaveCloth-v1/lora_step_0020000.npz
 HitBox-v1,level_3,25000,0.06,3,8,single_task/HitBox-v1/lora_step_0025000.npz
 LiquidMeasuring-v1,level_3,35000,0.32,16,8,single_task/LiquidMeasuring-v1/lora_step_0035000.npz
-DualArmPingpongBalance-v1,level_3,15000,0.2,10,8,single_task/DualArmPingpongBalance-v1/lora_step_0015000.npz
-DualArmSetupTable-v1,level_3,25000,0.04,2,8,single_task/DualArmSetupTable-v1/lora_step_0025000.npz
-DualArmOpenFridge-v1,level_3,5000,0.0,0,8,single_task/DualArmOpenFridge-v1/lora_step_0005000.npz
-HammerNail-v1,level_3,35000,0.12,6,8,single_task/HammerNail-v1/lora_step_0035000.npz
 MobilePickPlace-v1,level_3,15000,0.08,4,8,single_task/MobilePickPlace-v1/lora_step_0015000.npz
-TweezersPickPlace-v1,level_3,5000,0.0,0,8,single_task/TweezersPickPlace-v1/lora_step_0005000.npz
 Stack6Blocks-v1,level_3,5000,0.0,0,8,single_task/Stack6Blocks-v1/lora_step_0005000.npz
-DualArmJumpRope-v1,level_4,20000,0.02,1,8,single_task/DualArmJumpRope-v1/lora_step_0020000.npz
-DualArmClothHanger-v1,level_4,5000,0.0,0,8,single_task/DualArmClothHanger-v1/lora_step_0005000.npz
 BuildTent-v1,level_4,10000,0.06,3,8,single_task/BuildTent-v1/lora_step_0010000.npz
 DualArmFlipTable-v1,level_4,5000,0.0,0,8,single_task/DualArmFlipTable-v1/lora_step_0005000.npz
 DualArmKeyboardType-v1,level_4,5000,0.0,0,7,single_task/DualArmKeyboardType-v1/lora_step_0005000.npz
 DualArmSendPingpong-v1,level_4,40000,0.08,4,8,single_task/DualArmSendPingpong-v1/lora_step_0040000.npz
 DualArmShootBasketball-v1,level_4,5000,0.0,0,8,single_task/DualArmShootBasketball-v1/lora_step_0005000.npz
-DualArmBallClassify-v1,level_4,10000,0.0,0,7,single_task/DualArmBallClassify-v1/lora_step_0010000.npz
-DualArmBilliardBridge-v1,level_4,5000,0.0,0,8,single_task/DualArmBilliardBridge-v1/lora_step_0005000.npz
-DualArmMahjongSetup-v1,level_4,5000,0.02,1,8,single_task/DualArmMahjongSetup-v1/lora_step_0005000.npz
 FitnessBall-v1,level_4,5000,0.0,0,8,single_task/FitnessBall-v1/lora_step_0005000.npz
-RodThroughHoles-v1,level_4,5000,0.02,1,8,single_task/RodThroughHoles-v1/lora_step_0005000.npz
-SpinPenHora-v1,level_4,5000,0.0,0,8,single_task/SpinPenHora-v1/lora_step_0005000.npz
-TennisRally-v1,level_4,15000,0.06,3,8,single_task/TennisRally-v1/lora_step_0015000.npz
 FlipPan-v1,level_4,40000,0.04,2,8,single_task/FlipPan-v1/lora_step_0040000.npz
 HitBilliard-v1,level_4,5000,0.0,0,8,single_task/HitBilliard-v1/lora_step_0005000.npz
 PingPongBallTransport-v1,level_4,40000,0.16,8,7,single_task/PingPongBallTransport-v1/lora_step_0040000.npz
 RingTossing-v1,level_4,5000,0.0,0,8,single_task/RingTossing-v1/lora_step_0005000.npz

 task,level,best_step,success_rate_50ep,successes,ckpts_evaluated,file
+DrapeCloth-v1,level_1,10000,1.0,50,8,single_task/DrapeCloth-v1/lora_step_0010000.npz
+DualArmButtonPress-v1,level_1,5000,0.98,49,8,single_task/DualArmButtonPress-v1/lora_step_0005000.npz
 DualArmCoverCloth-v1,level_1,15000,0.8,40,8,single_task/DualArmCoverCloth-v1/lora_step_0015000.npz
+DualArmDoubleDoorBox-v1,level_1,20000,0.82,41,8,single_task/DualArmDoubleDoorBox-v1/lora_step_0020000.npz
 DualArmFoldHandKerchief-v1,level_1,5000,0.74,37,8,single_task/DualArmFoldHandKerchief-v1/lora_step_0005000.npz
+DualArmHammerHandover-v1,level_1,25000,0.74,37,8,single_task/DualArmHammerHandover-v1/lora_step_0025000.npz
 DualArmOpenPen-v1,level_1,35000,0.36,18,8,single_task/DualArmOpenPen-v1/lora_step_0035000.npz
+DualArmOpenScissor-v1,level_1,15000,0.86,43,8,single_task/DualArmOpenScissor-v1/lora_step_0015000.npz
+DualArmPressButton-v1,level_1,15000,0.8,40,8,single_task/DualArmPressButton-v1/lora_step_0015000.npz
+DualArmRopeCylinderWarpping-v1,level_1,10000,0.62,31,8,single_task/DualArmRopeCylinderWarpping-v1/lora_step_0010000.npz
+DualArmRopeStretch-v1,level_1,10000,0.92,46,8,single_task/DualArmRopeStretch-v1/lora_step_0010000.npz
 GraspCylinder-v1,level_1,15000,0.94,47,8,single_task/GraspCylinder-v1/lora_step_0015000.npz
 LiftBucket-v1,level_1,40000,0.96,48,8,single_task/LiftBucket-v1/lora_step_0040000.npz
 OpenDoor-v1,level_1,5000,0.3,15,8,single_task/OpenDoor-v1/lora_step_0005000.npz
 PickPlacePen-v1,level_1,20000,0.36,18,8,single_task/PickPlacePen-v1/lora_step_0020000.npz
 PushSoccer-v1,level_1,40000,0.8,40,8,single_task/PushSoccer-v1/lora_step_0040000.npz
+RopePalmCageHoldDex-v1,level_1,5000,0.94,47,8,single_task/RopePalmCageHoldDex-v1/lora_step_0005000.npz
+ShapeTToI-v1,level_1,40000,0.5,25,7,single_task/ShapeTToI-v1/lora_step_0040000.npz
+StackBlock-v1,level_1,15000,0.46,23,8,single_task/StackBlock-v1/lora_step_0015000.npz
+StraightenRope-v1,level_1,35000,0.84,42,8,single_task/StraightenRope-v1/lora_step_0035000.npz
+TurnOnFaucet-v1,level_1,10000,0.92,46,8,single_task/TurnOnFaucet-v1/lora_step_0010000.npz
+UnfoldShirt-v1,level_1,5000,0.78,39,7,single_task/UnfoldShirt-v1/lora_step_0005000.npz
 ClothWipe-v1,level_2,25000,0.52,26,8,single_task/ClothWipe-v1/lora_step_0025000.npz
+DexOpenDoor-v1,level_2,5000,0.56,28,8,single_task/DexOpenDoor-v1/lora_step_0005000.npz
+DualArmBookPickPlace-v1,level_2,15000,0.56,28,8,single_task/DualArmBookPickPlace-v1/lora_step_0015000.npz
+DualArmCleanupPotEnv-v1,level_2,35000,0.38,19,7,single_task/DualArmCleanupPotEnv-v1/lora_step_0035000.npz
+DualArmClothAlign-v1,level_2,40000,0.38,19,8,single_task/DualArmClothAlign-v1/lora_step_0040000.npz
+DualArmJugglingBall-v1,level_2,40000,0.06,3,7,single_task/DualArmJugglingBall-v1/lora_step_0040000.npz
+DualArmLiftBall-v1,level_2,35000,0.54,27,8,single_task/DualArmLiftBall-v1/lora_step_0035000.npz
 DualArmOpenBottle-v1,level_2,30000,0.06,3,8,single_task/DualArmOpenBottle-v1/lora_step_0030000.npz
 DualArmOpenLaptop-v1,level_2,25000,0.42,21,8,single_task/DualArmOpenLaptop-v1/lora_step_0025000.npz
 DualArmPegInHole-v1,level_2,5000,0.18,9,8,single_task/DualArmPegInHole-v1/lora_step_0005000.npz
+DualArmPlaceRopeOverRod-v1,level_2,40000,0.46,23,8,single_task/DualArmPlaceRopeOverRod-v1/lora_step_0040000.npz
+DualArmStraightenRope-v1,level_2,35000,0.48,24,7,single_task/DualArmStraightenRope-v1/lora_step_0035000.npz
+DualArmStuffCloth-v1,level_2,15000,0.4,20,8,single_task/DualArmStuffCloth-v1/lora_step_0015000.npz
+DualArmThrowBlock-v1,level_2,5000,0.0,0,8,single_task/DualArmThrowBlock-v1/lora_step_0005000.npz
+FoldShirt-v1,level_2,40000,0.72,36,8,single_task/FoldShirt-v1/lora_step_0040000.npz
 GraspTwoBlocks-v1,level_2,5000,0.72,36,8,single_task/GraspTwoBlocks-v1/lora_step_0005000.npz
 HammerNailOut-v1,level_2,40000,0.44,22,8,single_task/HammerNailOut-v1/lora_step_0040000.npz
 HangMug-v1,level_2,10000,0.7,35,8,single_task/HangMug-v1/lora_step_0010000.npz
 KitAssembly-v1,level_2,15000,0.06,3,8,single_task/KitAssembly-v1/lora_step_0015000.npz
+OpenBoxRetrieval-v1,level_2,25000,0.38,19,8,single_task/OpenBoxRetrieval-v1/lora_step_0025000.npz
 PivotBook-v1,level_2,15000,0.38,19,8,single_task/PivotBook-v1/lora_step_0015000.npz
+ReorientPen-v1,level_2,25000,0.38,19,8,single_task/ReorientPen-v1/lora_step_0025000.npz
+RollingPin-v1,level_2,25000,0.96,48,8,single_task/RollingPin-v1/lora_step_0025000.npz
+StraightenTwoRopesSequential-v1,level_2,15000,0.36,18,8,single_task/StraightenTwoRopesSequential-v1/lora_step_0015000.npz
+DualArmOpenFridge-v1,level_3,5000,0.0,0,8,single_task/DualArmOpenFridge-v1/lora_step_0005000.npz
+DualArmPingpongBalance-v1,level_3,15000,0.2,10,8,single_task/DualArmPingpongBalance-v1/lora_step_0015000.npz
+DualArmPlugCharger-v1,level_3,5000,0.0,0,8,single_task/DualArmPlugCharger-v1/lora_step_0005000.npz
+DualArmSetupTable-v1,level_3,25000,0.04,2,8,single_task/DualArmSetupTable-v1/lora_step_0025000.npz
 DualArmShapeDoll-v1,level_3,30000,0.04,2,8,single_task/DualArmShapeDoll-v1/lora_step_0030000.npz
 DualArmThreadRopeThroughTube-v1,level_3,35000,0.16,8,8,single_task/DualArmThreadRopeThroughTube-v1/lora_step_0035000.npz
 DualArmWeaveCloth-v1,level_3,20000,0.32,16,8,single_task/DualArmWeaveCloth-v1/lora_step_0020000.npz
+GroceryPrepare-v1,level_3,5000,0.0,0,7,single_task/GroceryPrepare-v1/lora_step_0005000.npz
+HammerNail-v1,level_3,35000,0.12,6,8,single_task/HammerNail-v1/lora_step_0035000.npz
 HitBox-v1,level_3,25000,0.06,3,8,single_task/HitBox-v1/lora_step_0025000.npz
 LiquidMeasuring-v1,level_3,35000,0.32,16,8,single_task/LiquidMeasuring-v1/lora_step_0035000.npz
 MobilePickPlace-v1,level_3,15000,0.08,4,8,single_task/MobilePickPlace-v1/lora_step_0015000.npz
+PushTargetPose-v1,level_3,30000,0.02,1,8,single_task/PushTargetPose-v1/lora_step_0030000.npz
+SeparateTwoRopesEnv-v1,level_3,35000,0.26,13,7,single_task/SeparateTwoRopesEnv-v1/lora_step_0035000.npz
 Stack6Blocks-v1,level_3,5000,0.0,0,8,single_task/Stack6Blocks-v1/lora_step_0005000.npz
+TweezersPickPlace-v1,level_3,5000,0.0,0,8,single_task/TweezersPickPlace-v1/lora_step_0005000.npz
 BuildTent-v1,level_4,10000,0.06,3,8,single_task/BuildTent-v1/lora_step_0010000.npz
+DualArmBallClassify-v1,level_4,10000,0.0,0,7,single_task/DualArmBallClassify-v1/lora_step_0010000.npz
+DualArmBilliardBridge-v1,level_4,5000,0.0,0,8,single_task/DualArmBilliardBridge-v1/lora_step_0005000.npz
+DualArmClothHanger-v1,level_4,5000,0.0,0,8,single_task/DualArmClothHanger-v1/lora_step_0005000.npz
 DualArmFlipTable-v1,level_4,5000,0.0,0,8,single_task/DualArmFlipTable-v1/lora_step_0005000.npz
+DualArmJumpRope-v1,level_4,20000,0.02,1,8,single_task/DualArmJumpRope-v1/lora_step_0020000.npz
 DualArmKeyboardType-v1,level_4,5000,0.0,0,7,single_task/DualArmKeyboardType-v1/lora_step_0005000.npz
+DualArmMahjongSetup-v1,level_4,5000,0.02,1,8,single_task/DualArmMahjongSetup-v1/lora_step_0005000.npz
 DualArmSendPingpong-v1,level_4,40000,0.08,4,8,single_task/DualArmSendPingpong-v1/lora_step_0040000.npz
 DualArmShootBasketball-v1,level_4,5000,0.0,0,8,single_task/DualArmShootBasketball-v1/lora_step_0005000.npz
 FitnessBall-v1,level_4,5000,0.0,0,8,single_task/FitnessBall-v1/lora_step_0005000.npz
 FlipPan-v1,level_4,40000,0.04,2,8,single_task/FlipPan-v1/lora_step_0040000.npz
 HitBilliard-v1,level_4,5000,0.0,0,8,single_task/HitBilliard-v1/lora_step_0005000.npz
 PingPongBallTransport-v1,level_4,40000,0.16,8,7,single_task/PingPongBallTransport-v1/lora_step_0040000.npz
 RingTossing-v1,level_4,5000,0.0,0,8,single_task/RingTossing-v1/lora_step_0005000.npz
+RodThroughHoles-v1,level_4,5000,0.02,1,8,single_task/RodThroughHoles-v1/lora_step_0005000.npz
+SpinPenHora-v1,level_4,5000,0.0,0,8,single_task/SpinPenHora-v1/lora_step_0005000.npz
+TennisRally-v1,level_4,15000,0.06,3,8,single_task/TennisRally-v1/lora_step_0015000.npz