{
  "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"
}