{
  "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"
}