{
  "suite": "level_2",
  "step": 80000,
  "num_tasks": 28,
  "tasks_evaluated": 28,
  "evaluation_complete": true,
  "pending_tasks": [],
  "episodes_per_task": 50,
  "episode_seeds": "1000-1049",
  "mean_success_rate": 0.2414285714285714,
  "per_task": {
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      "success_rate": 0.42,
      "successes": 21,
      "return_mean": 19.1683,
      "embodiment": "rigid_body/single_arm_gripper"
    },
    "PivotBook-v1": {
      "success_rate": 0.16,
      "successes": 8,
      "return_mean": 179.89354,
      "embodiment": "rigid_body/single_arm_gripper"
    },
    "OpenBoxRetrieval-v1": {
      "success_rate": 0.04,
      "successes": 2,
      "return_mean": 187.55988000000002,
      "embodiment": "rigid_body/single_arm_gripper"
    },
    "KitAssembly-v1": {
      "success_rate": 0.0,
      "successes": 0,
      "return_mean": 192.14,
      "embodiment": "rigid_body/single_arm_gripper"
    },
    "GraspTwoBlocks-v1": {
      "success_rate": 0.56,
      "successes": 28,
      "return_mean": 226.9707,
      "embodiment": "rigid_body/single_arm_dex"
    },
    "ReorientPen-v1": {
      "success_rate": 0.3,
      "successes": 15,
      "return_mean": 111.66706,
      "embodiment": "rigid_body/single_arm_dex"
    },
    "DexOpenDoor-v1": {
      "success_rate": 0.28,
      "successes": 14,
      "return_mean": 325.17524000000003,
      "embodiment": "rigid_body/single_arm_dex"
    },
    "HammerNailOut-v1": {
      "success_rate": 0.32,
      "successes": 16,
      "return_mean": -24.495720000000002,
      "embodiment": "rigid_body/single_arm_dex"
    },
    "DualArmLiftBall-v1": {
      "success_rate": 0.36,
      "successes": 18,
      "return_mean": 30.12464,
      "embodiment": "rigid_body/dual_arm_gripper"
    },
    "DualArmBookPickPlace-v1": {
      "success_rate": 0.0,
      "successes": 0,
      "return_mean": 575.62944,
      "embodiment": "rigid_body/dual_arm_gripper"
    },
    "DualArmPegInHole-v1": {
      "success_rate": 0.18,
      "successes": 9,
      "return_mean": 62.280640000000005,
      "embodiment": "rigid_body/dual_arm_gripper"
    },
    "DualArmCleanupPotEnv-v1": {
      "success_rate": 0.0,
      "successes": 0,
      "return_mean": 99.78744,
      "embodiment": "rigid_body/dual_arm_gripper"
    },
    "DualArmOpenLaptop-v1": {
      "success_rate": 0.34,
      "successes": 17,
      "return_mean": 1389.98766,
      "embodiment": "rigid_body/dual_arm_dex"
    },
    "DualArmThrowBlock-v1": {
      "success_rate": 0.2,
      "successes": 10,
      "return_mean": 2159.683,
      "embodiment": "rigid_body/dual_arm_dex"
    },
    "DualArmJugglingBall-v1": {
      "success_rate": 0.0,
      "successes": 0,
      "return_mean": -5060.75764,
      "embodiment": "rigid_body/dual_arm_dex"
    },
    "DualArmOpenBottle-v1": {
      "success_rate": 0.0,
      "successes": 0,
      "return_mean": 2124.39504,
      "embodiment": "rigid_body/dual_arm_dex"
    },
    "DualArmPlaceRopeOverRod-v1": {
      "success_rate": 0.48,
      "successes": 24,
      "return_mean": 332.42735999999996,
      "embodiment": "deformable/dual_arm_dex"
    },
    "DualArmStuffCloth-v1": {
      "success_rate": 0.44,
      "successes": 22,
      "return_mean": 34.17728,
      "embodiment": "deformable/dual_arm_dex"
    },
    "DualArmPouringTwoCups-v1": {
      "success_rate": 0.0,
      "successes": 0,
      "return_mean": 1920.35364,
      "embodiment": "deformable/dual_arm_dex"
    },
    "DualArmClothAlign-v1": {
      "success_rate": 0.5,
      "successes": 25,
      "return_mean": 27.72722,
      "embodiment": "deformable/dual_arm_gripper"
    },
    "DualArmPushObject-v1": {
      "success_rate": 0.0,
      "successes": 0,
      "return_mean": 0.04186,
      "embodiment": "deformable/dual_arm_gripper"
    },
    "DualArmStraightenRope-v1": {
      "success_rate": 0.24,
      "successes": 12,
      "return_mean": 77.2212,
      "embodiment": "deformable/dual_arm_gripper"
    },
    "ClothWipe-v1": {
      "success_rate": 0.24,
      "successes": 12,
      "return_mean": 290.20684,
      "embodiment": "deformable/single_arm_dex"
    },
    "RollingPin-v1": {
      "success_rate": 0.38,
      "successes": 19,
      "return_mean": 245.92406,
      "embodiment": "deformable/single_arm_dex"
    },
    "RopeBridgeDex-v1": {
      "success_rate": 0.32,
      "successes": 16,
      "return_mean": 314.65782,
      "embodiment": "deformable/single_arm_dex"
    },
    "FoldShirt-v1": {
      "success_rate": 0.62,
      "successes": 31,
      "return_mean": 189.38598,
      "embodiment": "deformable/single_arm_gripper"
    },
    "ScoopWater-v1": {
      "success_rate": 0.26,
      "successes": 13,
      "return_mean": -49.51626,
      "embodiment": "deformable/single_arm_gripper"
    },
    "StraightenTwoRopesSequential-v1": {
      "success_rate": 0.12,
      "successes": 6,
      "return_mean": 2140.54834,
      "embodiment": "deformable/single_arm_gripper"
    }
  },
  "note": "Only the final checkpoint (step 80000) was evaluated, 50 episodes per task; per-episode rows are in eval_reports/<task>.json.",
  "campaign": "pi05_levels_20261028"
}