spec/baseline_pi05_base_20demo.json

{
 "schema": "axis_heldout_baseline_v1",
 "policy": "pi05_base + 20-demo LoRA, constant LR 2.5e-5 after 100-step warmup, 20 epochs",
 "protocol": "50 dual-sim rollouts per task, published eval seeds, 1500-step cap",
 "data_state": "OLD render batch: appearance randomized per demo (TextureModder + LightingModder) and wrist camera at the superseded 52-degree rig. This is the BEFORE baseline the re-rendered benchmark will be compared against, not a benchmark result.",
 "totals": {
  "successes": 48,
  "rollouts": 500,
  "rate": 0.096,
  "tasks_inside_gate": 0
 },
 "gate": "keep a task if 0.20 <= success <= 0.80",
 "tasks": [
  {
   "task_id": 809,
   "operation": "separate",
   "successes": 0,
   "n": 50,
   "rate": 0.0,
   "verdict": "below floor"
  },
  {
   "task_id": 811,
   "operation": "reach",
   "successes": 41,
   "n": 50,
   "rate": 0.82,
   "verdict": "above ceiling"
  },
  {
   "task_id": 866,
   "operation": "rotate",
   "successes": 0,
   "n": 50,
   "rate": 0.0,
   "verdict": "UNEVALUABLE (checker missing)"
  },
  {
   "task_id": 868,
   "operation": "pick",
   "successes": 6,
   "n": 50,
   "rate": 0.12,
   "verdict": "below floor"
  },
  {
   "task_id": 945,
   "operation": "put_into",
   "successes": 0,
   "n": 50,
   "rate": 0.0,
   "verdict": "below floor"
  },
  {
   "task_id": 953,
   "operation": "put_spatial",
   "successes": 1,
   "n": 50,
   "rate": 0.02,
   "verdict": "below floor"
  },
  {
   "task_id": 966,
   "operation": "put_on",
   "successes": 0,
   "n": 50,
   "rate": 0.0,
   "verdict": "below floor"
  },
  {
   "task_id": 1426,
   "operation": "rearrange",
   "successes": 0,
   "n": 50,
   "rate": 0.0,
   "verdict": "below floor"
  },
  {
   "task_id": 1459,
   "operation": "insert",
   "successes": 0,
   "n": 50,
   "rate": 0.0,
   "verdict": "below floor"
  },
  {
   "task_id": 1889,
   "operation": "put_beside",
   "successes": 0,
   "n": 50,
   "rate": 0.0,
   "verdict": "below floor"
  }
 ]
}