{
  "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"
}