{
 "schema": "axis_heldout20_benchmark_v1",
 "name": "AXIS held-out 20",
 "what_it_measures": "few-shot adaptation to a target setup: ~20 demonstrations of an unseen task, LoRA adaptation, evaluation on that same task under the SAME conditions the demonstrations contain. Not generalisation -- randomising at eval what the demos do not contain measures a regime this never trains for.",
 "n_tasks": 20,
 "n_operations": 12,
 "adaptation_demos_per_task": 20,
 "eval_episodes_per_task": 50,
 "eval_requires": "--dual-sim  (--eval-layouts has no object collision; objects fall off the table within ~120 steps and the scores are of a physically broken scene)",
 "learnability_gate": {
  "policy": "pi05_base + 20-demo LoRA",
  "keep_if": "0.20 <= success_rate <= 0.80",
  "why_two_sided": "the lower bound removes tasks that measure nothing -- the previous 10-task set had 4 of 6 evaluated tasks at 0/10; the upper removes tasks already solved, which leave no headroom to show improvement",
  "status": "NOT YET RUN -- the task list below is CANDIDATES, not the final benchmark"
 },
 "conditions": {
  "vary_at_eval": [
   "object identity",
   "object placement",
   "placement jitter"
  ],
  "fix_at_eval": [
   "robot initial state",
   "camera pose",
   "visual appearance / lighting / texture"
  ],
  "why": "measured from the demonstration data: robot initial joints vary by at most 0.22 deg and the EE start by 1.8 mm across 856 and 1148 episodes, and domain_randomization contains only position deltas -- nothing visual. Eval must match what the demos contain."
 },
 "excluded": {
  "813": "layout generator fails after 50,000 attempts placing 4 objects in a 0.50 m box; surfaces as an empty error:build_scene: message, so it cannot be scored"
 },
 "join_on": "(task_id, attempt_id) -- NEVER episode_index, which every build renumbers",
 "tasks": [
  {
   "task_id": 1459,
   "operation": "insert",
   "name": "fit lid onto container",
   "demos_available": 31,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 1458,
   "operation": "insert",
   "name": "insert utensil into holder",
   "demos_available": 42,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 868,
   "operation": "pick",
   "name": "pick single rigid object",
   "demos_available": 40,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 815,
   "operation": "place",
   "name": "place with orientation",
   "demos_available": 37,
   "adaptation_demos": 20,
   "join_origin": "action_match"
  },
  {
   "task_id": 1889,
   "operation": "put_beside",
   "name": "put the kiwi beside the banana",
   "demos_available": 40,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 1891,
   "operation": "put_beside",
   "name": "put the orange beside the banana",
   "demos_available": 39,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 945,
   "operation": "put_into",
   "name": "put both the potato and the pepper in the bowl",
   "demos_available": 36,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 1046,
   "operation": "put_into",
   "name": "put the toy car into the basket",
   "demos_available": 36,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 966,
   "operation": "put_on",
   "name": "put the eyeglasses case on the tissue box",
   "demos_available": 39,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 1746,
   "operation": "put_on",
   "name": "put the cube block on the poker",
   "demos_available": 40,
   "adaptation_demos": 20,
   "join_origin": "action_match"
  },
  {
   "task_id": 953,
   "operation": "put_spatial",
   "name": "put the muffin on the left side of the cup",
   "demos_available": 33,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 929,
   "operation": "put_spatial",
   "name": "put the tea cup on the left side of the tea pot",
   "demos_available": 37,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 811,
   "operation": "reach",
   "name": "reach target pose",
   "demos_available": 40,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 1426,
   "operation": "rearrange",
   "name": "rearrange three items",
   "demos_available": 30,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 1427,
   "operation": "rearrange",
   "name": "rearrange three items 2",
   "demos_available": 30,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 1252,
   "operation": "remove",
   "name": "remove loose lid",
   "demos_available": 37,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 866,
   "operation": "rotate",
   "name": "rotate the computer mouse",
   "demos_available": 40,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 970,
   "operation": "rotate",
   "name": "rotate the eyeglasses case",
   "demos_available": 38,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 809,
   "operation": "separate",
   "name": "separate the sandwich from the juice",
   "demos_available": 40,
   "adaptation_demos": 20,
   "join_origin": "published"
  },
  {
   "task_id": 810,
   "operation": "separate",
   "name": "separate the sandwich from the napkin box",
   "demos_available": 40,
   "adaptation_demos": 20,
   "join_origin": "published"
  }
 ]
}