{
 "definition": "train-mix ablation: models trained on the full training set rollouts only / demos only / demos + rollouts (mix), 3 seeds each; scored on the test rollouts and the test demos against raw P&W gold with the release grader counting. value = seed mean, sd = over seeds; CIs and deltas: 95% paired episode bootstrap (1000 draws, same draws for every regime and seed), delta = regime - mix.",
 "cells": {
  "rollouts": {
   "connect-dc-jack": {
    "n": 216,
    "gold_failed_attempts": 316,
    "regimes": {
     "mix": {
      "seg_f1_iou80": {
       "mean": 0.9179902873626172,
       "sd": 0.004172036838759419,
       "seeds": [
        0.9134078212290503,
        0.9215686274509803,
        0.9189944134078212
       ],
       "lo": 0.8922545418143273,
       "hi": 0.9390327274799347
      },
      "boundary_err_s": {
       "mean": 0.3381539927655843,
       "sd": 0.0033375119894000975,
       "seeds": [
        0.3420020964360588,
        0.3364117647058823,
        0.33604811715481175
       ],
       "lo": 0.31225122734904287,
       "hi": 0.3653144590556622
      },
      "boundary_recall": {
       "mean": 0.9695121951219513,
       "sd": 0.0020325203252032353,
       "seeds": [
        0.9695121951219512,
        0.967479674796748,
        0.9715447154471545
       ],
       "lo": 0.9530558004975319,
       "hi": 0.9827490627765656
      },
      "failed_f1": {
       "mean": 0.8660968082964612,
       "sd": 0.0038543253874194472,
       "seeds": [
        0.8634222919937206,
        0.8643533123028391,
        0.8705148205928237
       ],
       "lo": 0.8311562389135361,
       "hi": 0.9025562316179275
      },
      "failed_precision": {
       "mean": 0.8589315259673221,
       "sd": 0.002502028753665124,
       "seeds": [
        0.8566978193146417,
        0.8616352201257862,
        0.8584615384615385
       ],
       "lo": 0.8124529555439949,
       "hi": 0.9065259769558907
      },
      "failed_recall": {
       "mean": 0.8734177215189872,
       "sd": 0.008372630731217103,
       "seeds": [
        0.870253164556962,
        0.8670886075949367,
        0.8829113924050633
       ],
       "lo": 0.837890550494194,
       "hi": 0.9052311524748802
      }
     },
     "rollouts": {
      "seg_f1_iou80": {
       "mean": 0.9239367482813309,
       "sd": 0.002040430886409659,
       "seeds": [
        0.9239357990230286,
        0.9259776536312849,
        0.9218967921896792
       ],
       "lo": 0.8993516191840172,
       "hi": 0.9458592087030411,
       "delta_vs_mix": {
        "value": 0.0059464609187136475,
        "lo": -0.001015816628932953,
        "hi": 0.013382174074649809,
        "p": 0.102
       }
      },
      "boundary_err_s": {
       "mean": 0.3234490149930264,
       "sd": 0.0012851178108374578,
       "seeds": [
        0.32405624999999977,
        0.32197280334728023,
        0.32431799163179914
       ],
       "lo": 0.2967989906668663,
       "hi": 0.351893512904644,
       "delta_vs_mix": {
        "value": -0.014704977772557859,
        "lo": -0.02417164146900177,
        "hi": -0.004466402530670166,
        "p": 0.004
       }
      },
      "boundary_recall": {
       "mean": 0.97289972899729,
       "sd": 0.002346952313778947,
       "seeds": [
        0.975609756097561,
        0.9715447154471545,
        0.9715447154471545
       ],
       "lo": 0.9567626997828483,
       "hi": 0.986024583876133,
       "delta_vs_mix": {
        "value": 0.003387533875338744,
        "lo": -0.0006462171673774719,
        "hi": 0.00843966156244278,
        "p": 0.15
       }
      },
      "failed_f1": {
       "mean": 0.878837804561949,
       "sd": 0.0021464746125526434,
       "seeds": [
        0.88125,
        0.8771384136858476,
        0.878125
       ],
       "lo": 0.8452333107590675,
       "hi": 0.9115921705961227,
       "delta_vs_mix": {
        "value": 0.012740996265487858,
        "lo": 0.0016704440116882325,
        "hi": 0.02618049085140228,
        "p": 0.02
       }
      },
      "failed_precision": {
       "mean": 0.8666798806961906,
       "sd": 0.004026652246106527,
       "seeds": [
        0.8703703703703703,
        0.8623853211009175,
        0.8672839506172839
       ],
       "lo": 0.822650970518589,
       "hi": 0.9137266784906387,
       "delta_vs_mix": {
        "value": 0.007748354728868478,
        "lo": -0.0038597643375396728,
        "hi": 0.020500922203063963,
        "p": 0.226
       }
      },
      "failed_recall": {
       "mean": 0.8913502109704642,
       "sd": 0.0018270578138912307,
       "seeds": [
        0.8924050632911392,
        0.8924050632911392,
        0.8892405063291139
       ],
       "lo": 0.8591119229793549,
       "hi": 0.9223315313458442,
       "delta_vs_mix": {
        "value": 0.017932489451476963,
        "lo": 0.004192174971103668,
        "hi": 0.03623419851064682,
        "p": 0.01
       }
      }
     },
     "demos": {
      "seg_f1_iou80": {
       "mean": 0.850652552708091,
       "sd": 0.008133155805146654,
       "seeds": [
        0.8573378839590444,
        0.853021978021978,
        0.8415977961432507
       ],
       "lo": 0.8229348212480545,
       "hi": 0.8784436747431755,
       "delta_vs_mix": {
        "value": -0.0673377346545262,
        "lo": -0.09008488357067108,
        "hi": -0.04328017085790634,
        "p": 0.0
       }
      },
      "boundary_err_s": {
       "mean": 0.48695109287237637,
       "sd": 0.010400787264527925,
       "seeds": [
        0.4970974576271187,
        0.47631330472103,
        0.48744251626898044
       ],
       "lo": 0.45156277865171435,
       "hi": 0.5247963041067123,
       "delta_vs_mix": {
        "value": 0.1487971001067921,
        "lo": 0.11704907789826394,
        "hi": 0.18123788982629777,
        "p": 0.0
       }
      },
      "boundary_recall": {
       "mean": 0.9478319783197833,
       "sd": 0.011194249079849793,
       "seeds": [
        0.959349593495935,
        0.9471544715447154,
        0.9369918699186992
       ],
       "lo": 0.9287067919969558,
       "hi": 0.9658156737685204,
       "delta_vs_mix": {
        "value": -0.02168021680216803,
        "lo": -0.03689001649618149,
        "hi": -0.006879375874996192,
        "p": 0.004
       }
      },
      "failed_f1": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0,
       "delta_vs_mix": {
        "value": -0.8660968082964612,
        "lo": -0.9025562316179275,
        "hi": -0.8311562389135361,
        "p": 0.0
       }
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0,
       "delta_vs_mix": {
        "value": -0.8734177215189872,
        "lo": -0.9052311524748802,
        "hi": -0.837890550494194,
        "p": 0.0
       }
      }
     }
    }
   },
   "sort-screws-into-bins": {
    "n": 156,
    "gold_failed_attempts": 791,
    "regimes": {
     "mix": {
      "seg_f1_iou80": {
       "mean": 0.7924449718335231,
       "sd": 0.005794967028234518,
       "seeds": [
        0.7865612648221344,
        0.7926267281105991,
        0.7981469225678358
       ],
       "lo": 0.7445774182677269,
       "hi": 0.8350721016526222
      },
      "boundary_err_s": {
       "mean": 0.2774659218585769,
       "sd": 0.0044337176597863395,
       "seeds": [
        0.2780092421441773,
        0.28160294117647033,
        0.2727855822550829
       ],
       "lo": 0.251448792219162,
       "hi": 0.3093641191720963
      },
      "boundary_recall": {
       "mean": 0.954225352112676,
       "sd": 0.0030493852245930576,
       "seeds": [
        0.9524647887323944,
        0.9577464788732394,
        0.9524647887323944
       ],
       "lo": 0.9325758531689644,
       "hi": 0.9729469224810601
      },
      "failed_f1": {
       "mean": 0.8519757531346794,
       "sd": 0.007838255884973137,
       "seeds": [
        0.8448598130841122,
        0.8506900878293601,
        0.8603773584905661
       ],
       "lo": 0.8211347162723541,
       "hi": 0.8823959350585937
      },
      "failed_precision": {
       "mean": 0.8444425563255608,
       "sd": 0.011573510956490453,
       "seeds": [
        0.8329238329238329,
        0.8443337484433375,
        0.8560700876095119
       ],
       "lo": 0.8127387315034866,
       "hi": 0.8779462486505508
      },
      "failed_recall": {
       "mean": 0.8596713021491782,
       "sd": 0.004379395215092021,
       "seeds": [
        0.8571428571428571,
        0.8571428571428571,
        0.8647281921618205
       ],
       "lo": 0.8245250076055527,
       "hi": 0.89329135119915
      }
     },
     "rollouts": {
      "seg_f1_iou80": {
       "mean": 0.7791322389962935,
       "sd": 0.009553557429227786,
       "seeds": [
        0.7711475409836066,
        0.7897165458141068,
        0.7765326301911668
       ],
       "lo": 0.7293716922402382,
       "hi": 0.8237077414989471,
       "delta_vs_mix": {
        "value": -0.013312732837229668,
        "lo": -0.024382093548774717,
        "hi": -0.002853851020336152,
        "p": 0.008
       }
      },
      "boundary_err_s": {
       "mean": 0.2839334488090124,
       "sd": 0.004292746941163317,
       "seeds": [
        0.2797103321033211,
        0.28379742173112343,
        0.2882925925925926
       ],
       "lo": 0.25638835951685907,
       "hi": 0.3167285405099392,
       "delta_vs_mix": {
        "value": 0.006467526950435509,
        "lo": -0.0036260172724723815,
        "hi": 0.017367949336767195,
        "p": 0.254
       }
      },
      "boundary_recall": {
       "mean": 0.9536384976525821,
       "sd": 0.0026893049853027435,
       "seeds": [
        0.954225352112676,
        0.9559859154929577,
        0.9507042253521126
       ],
       "lo": 0.9322526559233666,
       "hi": 0.9722797706723213,
       "delta_vs_mix": {
        "value": -0.0005868544600938774,
        "lo": -0.009148296713829041,
        "hi": 0.008828058838844298,
        "p": 0.946
       }
      },
      "failed_f1": {
       "mean": 0.8467839123945874,
       "sd": 0.004775330928243017,
       "seeds": [
        0.8425637834474176,
        0.8519675202998126,
        0.8458204334365325
       ],
       "lo": 0.8159617736935616,
       "hi": 0.8776667788624763,
       "delta_vs_mix": {
        "value": -0.005191840740092046,
        "lo": -0.01245257705450058,
        "hi": 0.0011933937668800346,
        "p": 0.122
       }
      },
      "failed_precision": {
       "mean": 0.8335052221775682,
       "sd": 0.0073454950750018524,
       "seeds": [
        0.8296568627450981,
        0.8419753086419753,
        0.8288834951456311
       ],
       "lo": 0.7991774082183838,
       "hi": 0.8674550503492355,
       "delta_vs_mix": {
        "value": -0.010937334147992583,
        "lo": -0.021202202141284942,
        "hi": -0.0012704446911811851,
        "p": 0.02
       }
      },
      "failed_recall": {
       "mean": 0.8605141171512853,
       "sd": 0.0040639067682228976,
       "seeds": [
        0.8558786346396966,
        0.8621997471554994,
        0.8634639696586599
       ],
       "lo": 0.8270941913127899,
       "hi": 0.8937200337648391,
       "delta_vs_mix": {
        "value": 0.0008428150021071446,
        "lo": -0.006921452283859253,
        "hi": 0.0077947542071342465,
        "p": 0.882
       }
      }
     },
     "demos": {
      "seg_f1_iou80": {
       "mean": 0.6723115815535957,
       "sd": 0.0016021897111439978,
       "seeds": [
        0.6704761904761904,
        0.673430564362714,
        0.6730279898218829
       ],
       "lo": 0.6203201025724411,
       "hi": 0.7195385947823525,
       "delta_vs_mix": {
        "value": -0.12013339027992742,
        "lo": -0.15316952913999557,
        "hi": -0.08749206364154816,
        "p": 0.0
       }
      },
      "boundary_err_s": {
       "mean": 0.35336895139436014,
       "sd": 0.0026902599952970518,
       "seeds": [
        0.35093542435424313,
        0.35291360294117646,
        0.35625782688766094
       ],
       "lo": 0.31462631449103357,
       "hi": 0.3982060097157955,
       "delta_vs_mix": {
        "value": 0.07590302953578326,
        "lo": 0.044489350914955136,
        "hi": 0.1081019751727581,
        "p": 0.0
       }
      },
      "boundary_recall": {
       "mean": 0.9559859154929576,
       "sd": 0.0017605633802816878,
       "seeds": [
        0.954225352112676,
        0.9577464788732394,
        0.9559859154929577
       ],
       "lo": 0.9362100422382355,
       "hi": 0.9739188238978386,
       "delta_vs_mix": {
        "value": 0.0017605633802816323,
        "lo": -0.014974859356880187,
        "hi": 0.018079103529453276,
        "p": 0.9
       }
      },
      "failed_f1": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0,
       "delta_vs_mix": {
        "value": -0.8519757531346794,
        "lo": -0.8823959350585937,
        "hi": -0.8211347162723541,
        "p": 0.0
       }
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0,
       "delta_vs_mix": {
        "value": -0.8596713021491782,
        "lo": -0.89329135119915,
        "hi": -0.8245250076055527,
        "p": 0.0
       }
      }
     }
    }
   },
   "pour-screws-into-funnel": {
    "n": 360,
    "gold_failed_attempts": 267,
    "regimes": {
     "mix": {
      "seg_f1_iou80": {
       "mean": 0.9448002350628193,
       "sd": 0.002711765689371084,
       "seeds": [
        0.9466501240694789,
        0.9460632362058277,
        0.9416873449131513
       ],
       "lo": 0.9251422688364983,
       "hi": 0.9632232487201691
      },
      "boundary_err_s": {
       "mean": 0.19265821812596004,
       "sd": 0.003943287257444968,
       "seeds": [
        0.19229723502304147,
        0.19676958525345623,
        0.18890783410138245
       ],
       "lo": 0.17548873387277125,
       "hi": 0.2109707858413458
      },
      "boundary_recall": {
       "mean": 0.9580573951434879,
       "sd": 0.0,
       "seeds": [
        0.9580573951434879,
        0.9580573951434879,
        0.9580573951434879
       ],
       "lo": 0.9298216059803963,
       "hi": 0.9817849278450013
      },
      "failed_f1": {
       "mean": 0.7937780324721491,
       "sd": 0.004064099978882716,
       "seeds": [
        0.796844181459566,
        0.7891682785299806,
        0.7953216374269005
       ],
       "lo": 0.7432886883616447,
       "hi": 0.842470982670784
      },
      "failed_precision": {
       "mean": 0.8289783197831978,
       "sd": 0.012835790106432021,
       "seeds": [
        0.8416666666666667,
        0.816,
        0.8292682926829268
       ],
       "lo": 0.779344442486763,
       "hi": 0.8764010652899742
      },
      "failed_recall": {
       "mean": 0.7615480649188514,
       "sd": 0.004324721117525297,
       "seeds": [
        0.7565543071161048,
        0.7640449438202247,
        0.7640449438202247
       ],
       "lo": 0.695645497739315,
       "hi": 0.825096096098423
      }
     },
     "rollouts": {
      "seg_f1_iou80": {
       "mean": 0.9479323923051403,
       "sd": 0.0034783067552153564,
       "seeds": [
        0.9511440940012369,
        0.9442379182156134,
        0.9484151646985706
       ],
       "lo": 0.9294451504945755,
       "hi": 0.9660658225417137,
       "delta_vs_mix": {
        "value": 0.0031321572423209654,
        "lo": -0.0026265621185302735,
        "hi": 0.009490247070789336,
        "p": 0.312
       }
      },
      "boundary_err_s": {
       "mean": 0.18504462946206945,
       "sd": 0.0016710731771157573,
       "seeds": [
        0.1834360730593608,
        0.1867718894009216,
        0.1849259259259259
       ],
       "lo": 0.16852155029773713,
       "hi": 0.20299097523093224,
       "delta_vs_mix": {
        "value": -0.007613588663890586,
        "lo": -0.015226363763213157,
        "hi": 9.329691529273665e-05,
        "p": 0.054
       }
      },
      "boundary_recall": {
       "mean": 0.9595290654893304,
       "sd": 0.006744040757845274,
       "seeds": [
        0.9668874172185431,
        0.9580573951434879,
        0.9536423841059603
       ],
       "lo": 0.9329050838947296,
       "hi": 0.9813306972384452,
       "delta_vs_mix": {
        "value": 0.0014716703458425018,
        "lo": -0.00469571053981781,
        "hi": 0.009804464876651764,
        "p": 0.872
       }
      },
      "failed_f1": {
       "mean": 0.7767109337861869,
       "sd": 0.02105845075601236,
       "seeds": [
        0.7884615384615384,
        0.789272030651341,
        0.7523992322456814
       ],
       "lo": 0.7256174415349961,
       "hi": 0.8258106067776679,
       "delta_vs_mix": {
        "value": -0.017067098685962123,
        "lo": -0.037089581787586215,
        "hi": 0.0040326982736587505,
        "p": 0.118
       }
      },
      "failed_precision": {
       "mean": 0.7965911201346286,
       "sd": 0.021630824901118548,
       "seeds": [
        0.8102766798418972,
        0.807843137254902,
        0.7716535433070866
       ],
       "lo": 0.7451897844672203,
       "hi": 0.8477207645773888,
       "delta_vs_mix": {
        "value": -0.032387199648569176,
        "lo": -0.055371662974357604,
        "hi": -0.009964072704315189,
        "p": 0.01
       }
      },
      "failed_recall": {
       "mean": 0.7578027465667915,
       "sd": 0.020627605046015348,
       "seeds": [
        0.7677902621722846,
        0.7715355805243446,
        0.7340823970037453
       ],
       "lo": 0.6916685119271279,
       "hi": 0.8208377838134766,
       "delta_vs_mix": {
        "value": -0.0037453183520599342,
        "lo": -0.025927503407001496,
        "hi": 0.0201296329498291,
        "p": 0.758
       }
      }
     },
     "demos": {
      "seg_f1_iou80": {
       "mean": 0.8082970222637723,
       "sd": 0.009899894417310623,
       "seeds": [
        0.8063194850789935,
        0.799535153980244,
        0.8190364277320799
       ],
       "lo": 0.7728435069322586,
       "hi": 0.8409937649965287,
       "delta_vs_mix": {
        "value": -0.13650321279904698,
        "lo": -0.1681655153632164,
        "hi": -0.10748620331287384,
        "p": 0.0
       }
      },
      "boundary_err_s": {
       "mean": 0.3241011775263014,
       "sd": 0.004419887757318899,
       "seeds": [
        0.32057272727272723,
        0.3290588235294117,
        0.3226719817767653
       ],
       "lo": 0.30049510970711707,
       "hi": 0.349021615087986,
       "delta_vs_mix": {
        "value": 0.13144295940034137,
        "lo": 0.11195140220224857,
        "hi": 0.15207603499293326,
        "p": 0.0
       }
      },
      "boundary_recall": {
       "mean": 0.9720382634289919,
       "sd": 0.003372020378922637,
       "seeds": [
        0.9713024282560706,
        0.9757174392935982,
        0.9690949227373068
       ],
       "lo": 0.9551132827997207,
       "hi": 0.987272597849369,
       "delta_vs_mix": {
        "value": 0.013980868285504044,
        "lo": -0.0007375523447990418,
        "hi": 0.032812415063381194,
        "p": 0.078
       }
      },
      "failed_f1": {
       "mean": 0.0024875621890547263,
       "sd": 0.0043085840984300435,
       "seeds": [
        0.007462686567164179,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.007751937955617905,
       "delta_vs_mix": {
        "value": -0.7912904702830943,
        "lo": -0.8416559141944162,
        "hi": -0.7415503337979317,
        "p": 0.0
       }
      },
      "failed_precision": {
       "mean": 1.0,
       "sd": NaN,
       "seeds": [
        1.0,
        NaN,
        NaN
       ],
       "lo": 1.0,
       "hi": 1.0,
       "delta_vs_mix": {
        "value": 0.1710216802168022,
        "lo": 0.12445086240768433,
        "hi": 0.22116595655679702,
        "p": 0.0
       }
      },
      "failed_recall": {
       "mean": 0.0012484394506866417,
       "sd": 0.0021623605587626432,
       "seeds": [
        0.003745318352059925,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.003921568859368563,
       "delta_vs_mix": {
        "value": -0.7602996254681648,
        "lo": -0.8237754711823072,
        "hi": -0.6947125743492507,
        "p": 0.0
       }
      }
     }
    }
   },
   "route-cable-through-closed-hoops": {
    "n": 156,
    "gold_failed_attempts": 227,
    "regimes": {
     "mix": {
      "seg_f1_iou80": {
       "mean": 0.8969162995594714,
       "sd": 0.0017621145374449032,
       "seeds": [
        0.8951541850220265,
        0.8969162995594714,
        0.8986784140969163
       ],
       "lo": 0.8632027968764305,
       "hi": 0.9292325481772423
      },
      "boundary_err_s": {
       "mean": 0.27446955010197566,
       "sd": 0.005440425554299207,
       "seeds": [
        0.2701476683937824,
        0.2805788113695089,
        0.2726821705426357
       ],
       "lo": 0.24834006950259208,
       "hi": 0.3006991125643253
      },
      "boundary_recall": {
       "mean": 0.957095709570957,
       "sd": 0.0014290848247267977,
       "seeds": [
        0.9554455445544554,
        0.9579207920792079,
        0.9579207920792079
       ],
       "lo": 0.9358632594347001,
       "hi": 0.9776098281145096
      },
      "failed_f1": {
       "mean": 0.793531119358934,
       "sd": 0.002845511624975213,
       "seeds": [
        0.7956043956043956,
        0.7902869757174393,
        0.7947019867549668
       ],
       "lo": 0.7323095217347145,
       "hi": 0.8524191841483116
      },
      "failed_precision": {
       "mean": 0.794118408114682,
       "sd": 0.00222370949833681,
       "seeds": [
        0.793859649122807,
        0.7920353982300885,
        0.7964601769911505
       ],
       "lo": 0.7226601526141166,
       "hi": 0.865297582745552
      },
      "failed_recall": {
       "mean": 0.7929515418502202,
       "sd": 0.0044052863436123135,
       "seeds": [
        0.7973568281938326,
        0.788546255506608,
        0.7929515418502202
       ],
       "lo": 0.7333264335989952,
       "hi": 0.8558139801025391
      }
     },
     "rollouts": {
      "seg_f1_iou80": {
       "mean": 0.8996734619495411,
       "sd": 0.0013396003527614134,
       "seeds": [
        0.9002647837599294,
        0.9006156552330695,
        0.8981399468556245
       ],
       "lo": 0.8676225140690803,
       "hi": 0.9310242265462876,
       "delta_vs_mix": {
        "value": 0.002757162390069734,
        "lo": -0.007193030416965484,
        "hi": 0.01270271688699722,
        "p": 0.574
       }
      },
      "boundary_err_s": {
       "mean": 0.26010780043599685,
       "sd": 0.003944269166764847,
       "seeds": [
        0.2621619537275065,
        0.255560411311054,
        0.26260103626943004
       ],
       "lo": 0.23464548252522946,
       "hi": 0.2867104016244411,
       "delta_vs_mix": {
        "value": -0.014361749665978807,
        "lo": -0.024479393661022187,
        "hi": -0.00420266091823578,
        "p": 0.008
       }
      },
      "boundary_recall": {
       "mean": 0.9603960396039604,
       "sd": 0.004287254474180393,
       "seeds": [
        0.9628712871287128,
        0.9628712871287128,
        0.9554455445544554
       ],
       "lo": 0.9388704150915146,
       "hi": 0.9793517157435417,
       "delta_vs_mix": {
        "value": 0.0033003300330033403,
        "lo": -0.005849097669124603,
        "hi": 0.012225720286369323,
        "p": 0.518
       }
      },
      "failed_f1": {
       "mean": 0.7979974001226307,
       "sd": 0.004438412806472997,
       "seeds": [
        0.7991266375545851,
        0.7931034482758621,
        0.801762114537445
       ],
       "lo": 0.7411065205931664,
       "hi": 0.854518572986126,
       "delta_vs_mix": {
        "value": 0.004466280763696706,
        "lo": -0.01487559974193573,
        "hi": 0.025041779875755305,
        "p": 0.7
       }
      },
      "failed_precision": {
       "mean": 0.7901137382540382,
       "sd": 0.012824276213968021,
       "seeds": [
        0.7922077922077922,
        0.7763713080168776,
        0.801762114537445
       ],
       "lo": 0.7197305947542191,
       "hi": 0.8560891553759574,
       "delta_vs_mix": {
        "value": -0.00400466986064385,
        "lo": -0.035302546620368955,
        "hi": 0.02829603850841522,
        "p": 0.786
       }
      },
      "failed_recall": {
       "mean": 0.8061674008810572,
       "sd": 0.0044052863436123135,
       "seeds": [
        0.8061674008810573,
        0.8105726872246696,
        0.801762114537445
       ],
       "lo": 0.7529612988233566,
       "hi": 0.8654508411884307,
       "delta_vs_mix": {
        "value": 0.013215859030836996,
        "lo": 0.0,
        "hi": 0.027656646072864534,
        "p": 0.058
       }
      }
     },
     "demos": {
      "seg_f1_iou80": {
       "mean": 0.7755841120343977,
       "sd": 0.011147264230496029,
       "seeds": [
        0.7774936061381074,
        0.7636054421768708,
        0.7856532877882152
       ],
       "lo": 0.7372589275240898,
       "hi": 0.810797455906868,
       "delta_vs_mix": {
        "value": -0.12133218752507369,
        "lo": -0.15229689925909043,
        "hi": -0.09422770887613297,
        "p": 0.0
       }
      },
      "boundary_err_s": {
       "mean": 0.367762552655269,
       "sd": 0.006306468746865404,
       "seeds": [
        0.36811345646438015,
        0.37388624338624354,
        0.36128795811518327
       ],
       "lo": 0.33917990177869795,
       "hi": 0.39770072549581525,
       "delta_vs_mix": {
        "value": 0.09329300255329337,
        "lo": 0.06744867339730262,
        "hi": 0.11636939272284506,
        "p": 0.0
       }
      },
      "boundary_recall": {
       "mean": 0.9397689768976898,
       "sd": 0.005152638612539892,
       "seeds": [
        0.9381188118811881,
        0.9356435643564357,
        0.9455445544554455
       ],
       "lo": 0.9205838978290558,
       "hi": 0.9603790298104287,
       "delta_vs_mix": {
        "value": -0.01732673267326723,
        "lo": -0.03512731492519379,
        "hi": 0.0009163454174995417,
        "p": 0.072
       }
      },
      "failed_f1": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0,
       "delta_vs_mix": {
        "value": -0.793531119358934,
        "lo": -0.8524191841483116,
        "hi": -0.7323095217347145,
        "p": 0.0
       }
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0,
       "delta_vs_mix": {
        "value": -0.7929515418502202,
        "lo": -0.8558139801025391,
        "hi": -0.7333264335989952,
        "p": 0.0
       }
      }
     }
    }
   },
   "open-toolbox-with-screwdriver": {
    "n": 186,
    "gold_failed_attempts": 249,
    "regimes": {
     "mix": {
      "seg_f1_iou80": {
       "mean": 0.8789691923817755,
       "sd": 0.0022464357900680697,
       "seeds": [
        0.8771929824561403,
        0.8814944541739638,
        0.8782201405152225
       ],
       "lo": 0.8552041560411453,
       "hi": 0.9019520327448844
      },
      "boundary_err_s": {
       "mean": 0.23946623050829463,
       "sd": 0.003018049502526697,
       "seeds": [
        0.2427442572741194,
        0.23885168195718665,
        0.2368027522935779
       ],
       "lo": 0.22003239244222642,
       "hi": 0.2587652690708637
      },
      "boundary_recall": {
       "mean": 0.9770802192326856,
       "sd": 0.0008630048866811002,
       "seeds": [
        0.976083707025411,
        0.9775784753363229,
        0.9775784753363229
       ],
       "lo": 0.964408378303051,
       "hi": 0.9882045775651932
      },
      "failed_f1": {
       "mean": 0.7392175210442259,
       "sd": 0.009270538044921511,
       "seeds": [
        0.7410526315789474,
        0.7291666666666666,
        0.7474332648870636
       ],
       "lo": 0.683366847038269,
       "hi": 0.7906789004802703
      },
      "failed_precision": {
       "mean": 0.7670142339585339,
       "sd": 0.010779640331467293,
       "seeds": [
        0.7787610619469026,
        0.7575757575757576,
        0.7647058823529411
       ],
       "lo": 0.7067613556981087,
       "hi": 0.8225077599287033
      },
      "failed_recall": {
       "mean": 0.713520749665328,
       "sd": 0.015204573884338081,
       "seeds": [
        0.7068273092369478,
        0.7028112449799196,
        0.7309236947791165
       ],
       "lo": 0.6420452922582627,
       "hi": 0.7807833313941955
      }
     },
     "rollouts": {
      "seg_f1_iou80": {
       "mean": 0.8826546417975072,
       "sd": 0.005569530588296532,
       "seeds": [
        0.8778492109877265,
        0.8813559322033898,
        0.8887587822014051
       ],
       "lo": 0.8603698506951332,
       "hi": 0.9053927108645439,
       "delta_vs_mix": {
        "value": 0.0036854494157316786,
        "lo": -0.010212083160877227,
        "hi": 0.015614078938961029,
        "p": 0.562
       }
      },
      "boundary_err_s": {
       "mean": 0.23768760554007243,
       "sd": 0.0009661135847866036,
       "seeds": [
        0.2377652439024388,
        0.23668501529051975,
        0.23861255742725868
       ],
       "lo": 0.22082653418183326,
       "hi": 0.2543388843536377,
       "delta_vs_mix": {
        "value": -0.0017786249682222033,
        "lo": -0.011408737301826477,
        "hi": 0.008552665263414382,
        "p": 0.72
       }
      },
      "boundary_recall": {
       "mean": 0.9780767314399602,
       "sd": 0.002283296310391548,
       "seeds": [
        0.9805680119581465,
        0.9775784753363229,
        0.976083707025411
       ],
       "lo": 0.9642852932214737,
       "hi": 0.9888011112809181,
       "delta_vs_mix": {
        "value": 0.0009965122072745913,
        "lo": -0.002912066876888275,
        "hi": 0.004740287363529204,
        "p": 0.74
       }
      },
      "failed_f1": {
       "mean": 0.7385054235689514,
       "sd": 0.005712855147294322,
       "seeds": [
        0.7350096711798839,
        0.7354085603112841,
        0.7450980392156863
       ],
       "lo": 0.6854847371578217,
       "hi": 0.7894458115100861,
       "delta_vs_mix": {
        "value": -0.0007120974752744536,
        "lo": -0.039595195651054384,
        "hi": 0.04272105246782301,
        "p": 0.892
       }
      },
      "failed_precision": {
       "mean": 0.7167107065698041,
       "sd": 0.009979395252645538,
       "seeds": [
        0.7089552238805971,
        0.7132075471698113,
        0.7279693486590039
       ],
       "lo": 0.6544459328055382,
       "hi": 0.7739268556237221,
       "delta_vs_mix": {
        "value": -0.050303527388729785,
        "lo": -0.09066063016653061,
        "hi": -0.011612923443317415,
        "p": 0.008
       }
      },
      "failed_recall": {
       "mean": 0.7617135207496654,
       "sd": 0.002318675779878044,
       "seeds": [
        0.7630522088353414,
        0.7590361445783133,
        0.7630522088353414
       ],
       "lo": 0.7021229505538941,
       "hi": 0.8205204322934151,
       "delta_vs_mix": {
        "value": 0.048192771084337394,
        "lo": 0.00140044242143631,
        "hi": 0.10228537470102309,
        "p": 0.044
       }
      }
     },
     "demos": {
      "seg_f1_iou80": {
       "mean": 0.7852928004965855,
       "sd": 0.005025014317350417,
       "seeds": [
        0.7906458797327395,
        0.7845551203133744,
        0.7806774014436424
       ],
       "lo": 0.7520949751138687,
       "hi": 0.8178386837244034,
       "delta_vs_mix": {
        "value": -0.09367639188519006,
        "lo": -0.12110384106636048,
        "hi": -0.06729951053857804,
        "p": 0.0
       }
      },
      "boundary_err_s": {
       "mean": 0.2804555832351964,
       "sd": 0.002250203597344644,
       "seeds": [
        0.28208721804511283,
        0.28139097744360897,
        0.2778885542168675
       ],
       "lo": 0.2557144820690155,
       "hi": 0.3053807258605957,
       "delta_vs_mix": {
        "value": 0.040989352726901795,
        "lo": 0.027524099871516227,
        "hi": 0.05572049394249916,
        "p": 0.0
       }
      },
      "boundary_recall": {
       "mean": 0.9935226706527155,
       "sd": 0.000863004886681036,
       "seeds": [
        0.9940209267563528,
        0.9940209267563528,
        0.992526158445441
       ],
       "lo": 0.9869695663452148,
       "hi": 0.9984056010842324,
       "delta_vs_mix": {
        "value": 0.01644245142002987,
        "lo": 0.006932438910007477,
        "hi": 0.026912622153759003,
        "p": 0.0
       }
      },
      "failed_f1": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0,
       "delta_vs_mix": {
        "value": -0.7392175210442259,
        "lo": -0.7906789004802703,
        "hi": -0.683366847038269,
        "p": 0.0
       }
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0,
       "delta_vs_mix": {
        "value": -0.713520749665328,
        "lo": -0.7807833313941955,
        "hi": -0.6420452922582627,
        "p": 0.0
       }
      }
     }
    }
   }
  },
  "demos": {
   "connect-dc-jack": {
    "n": 61,
    "gold_failed_attempts": 0,
    "regimes": {
     "mix": {
      "seg_f1_iou80": {
       "mean": 0.983606557377049,
       "sd": 0.002049180327868827,
       "seeds": [
        0.9815573770491803,
        0.985655737704918,
        0.9836065573770492
       ],
       "lo": 0.9706284403800964,
       "hi": 0.994535505771637
      },
      "boundary_err_s": {
       "mean": 0.3129553990610329,
       "sd": 0.0029841553335087146,
       "seeds": [
        0.31602582159624415,
        0.31006572769953056,
        0.312774647887324
       ],
       "lo": 0.2854935273528099,
       "hi": 0.34119549542665484
      },
      "boundary_recall": {
       "mean": 0.9976580796252928,
       "sd": 1.3597399555105182e-16,
       "seeds": [
        0.9976580796252927,
        0.9976580796252927,
        0.9976580796252927
       ],
       "lo": 0.9929742217063904,
       "hi": 1.0
      },
      "failed_f1": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     },
     "rollouts": {
      "seg_f1_iou80": {
       "mean": 0.9105191256830601,
       "sd": 0.003130174655024442,
       "seeds": [
        0.9139344262295082,
        0.9077868852459017,
        0.9098360655737705
       ],
       "lo": 0.8838797807693481,
       "hi": 0.9337431788444519,
       "delta_vs_mix": {
        "value": -0.0730874316939889,
        "lo": -0.09562838077545166,
        "hi": -0.05191260427236557,
        "p": 0.0
       }
      },
      "boundary_err_s": {
       "mean": 0.4428250980392156,
       "sd": 0.0032552516703228266,
       "seeds": [
        0.4464917647058822,
        0.44170823529411757,
        0.4402752941176469
       ],
       "lo": 0.41079735681414603,
       "hi": 0.47767669782042504,
       "delta_vs_mix": {
        "value": 0.12986969897818268,
        "lo": 0.10452304482460022,
        "hi": 0.15213051289319993,
        "p": 0.0
       }
      },
      "boundary_recall": {
       "mean": 0.9953161592505855,
       "sd": 0.0,
       "seeds": [
        0.9953161592505855,
        0.9953161592505855,
        0.9953161592505855
       ],
       "lo": 0.9890710115432739,
       "hi": 1.0,
       "delta_vs_mix": {
        "value": -0.0023419203747073736,
        "lo": -0.005464494228363037,
        "hi": 0.0,
        "p": 0.306
       }
      },
      "failed_f1": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     },
     "demos": {
      "seg_f1_iou80": {
       "mean": 0.9849726775956285,
       "sd": 0.0011830948139131528,
       "seeds": [
        0.985655737704918,
        0.9836065573770492,
        0.985655737704918
       ],
       "lo": 0.9726605117321014,
       "hi": 0.994535505771637,
       "delta_vs_mix": {
        "value": 0.001366120218579403,
        "lo": -0.007513642311096191,
        "hi": 0.009562849998474121,
        "p": 0.854
       }
      },
      "boundary_err_s": {
       "mean": 0.3090336463223786,
       "sd": 0.0011244752188980878,
       "seeds": [
        0.3092629107981219,
        0.3078122065727699,
        0.310025821596244
       ],
       "lo": 0.2791966810822487,
       "hi": 0.339192670583725,
       "delta_vs_mix": {
        "value": -0.003921752738654305,
        "lo": -0.017737173289060593,
        "hi": 0.010174583643674847,
        "p": 0.62
       }
      },
      "boundary_recall": {
       "mean": 0.9976580796252928,
       "sd": 1.3597399555105182e-16,
       "seeds": [
        0.9976580796252927,
        0.9976580796252927,
        0.9976580796252927
       ],
       "lo": 0.9929742217063904,
       "hi": 1.0,
       "delta_vs_mix": {
        "value": 0.0,
        "lo": 0.0,
        "hi": 0.0,
        "p": 1.0
       }
      },
      "failed_f1": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     }
    }
   },
   "sort-screws-into-bins": {
    "n": 59,
    "gold_failed_attempts": 0,
    "regimes": {
     "mix": {
      "seg_f1_iou80": {
       "mean": 0.9410256410256409,
       "sd": 0.01025641025641022,
       "seeds": [
        0.9307692307692308,
        0.9512820512820512,
        0.941025641025641
       ],
       "lo": 0.9160327017307281,
       "hi": 0.9638389080762862
      },
      "boundary_err_s": {
       "mean": 0.14696544715447157,
       "sd": 0.005147730506007763,
       "seeds": [
        0.15055182926829272,
        0.1410670731707317,
        0.14927743902439028
       ],
       "lo": 0.13582174628973007,
       "hi": 0.1583211526274681
      },
      "boundary_recall": {
       "mean": 0.9969604863221885,
       "sd": 0.0,
       "seeds": [
        0.9969604863221885,
        0.9969604863221885,
        0.9969604863221885
       ],
       "lo": 0.9906527653336525,
       "hi": 1.0
      },
      "failed_f1": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     },
     "rollouts": {
      "seg_f1_iou80": {
       "mean": 0.8382863641699271,
       "sd": 0.02244886602762131,
       "seeds": [
        0.861850443599493,
        0.8358585858585859,
        0.8171500630517023
       ],
       "lo": 0.8031698375940323,
       "hi": 0.8713471129536629,
       "delta_vs_mix": {
        "value": -0.10273927685571382,
        "lo": -0.13055364042520523,
        "hi": -0.07729022651910783,
        "p": 0.0
       }
      },
      "boundary_err_s": {
       "mean": 0.22018744474115337,
       "sd": 0.00837610472670467,
       "seeds": [
        0.2180518292682927,
        0.21308588957055213,
        0.22942461538461523
       ],
       "lo": 0.20345693044364452,
       "hi": 0.23845719285309314,
       "delta_vs_mix": {
        "value": 0.0732219975866818,
        "lo": 0.05411236770451069,
        "hi": 0.09240307584404946,
        "p": 0.0
       }
      },
      "boundary_recall": {
       "mean": 0.9918946301925026,
       "sd": 0.0046429338348083675,
       "seeds": [
        0.9969604863221885,
        0.9908814589665653,
        0.9878419452887538
       ],
       "lo": 0.9800904259085655,
       "hi": 1.0,
       "delta_vs_mix": {
        "value": -0.005065856129685908,
        "lo": -0.01444786787033081,
        "hi": 0.0,
        "p": 0.232
       }
      },
      "failed_f1": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0
      },
      "failed_precision": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     },
     "demos": {
      "seg_f1_iou80": {
       "mean": 0.9401182079845318,
       "sd": 0.0015717201316677813,
       "seeds": [
        0.9383033419023136,
        0.941025641025641,
        0.941025641025641
       ],
       "lo": 0.9116795793175697,
       "hi": 0.9643237188458442,
       "delta_vs_mix": {
        "value": -0.0009074330411090736,
        "lo": -0.014268566668033599,
        "hi": 0.01385446637868881,
        "p": 0.906
       }
      },
      "boundary_err_s": {
       "mean": 0.14296024739388513,
       "sd": 0.0014418168402191176,
       "seeds": [
        0.1439417177914113,
        0.14363414634146343,
        0.14130487804878067
       ],
       "lo": 0.13043382279574872,
       "hi": 0.15571996495127677,
       "delta_vs_mix": {
        "value": -0.004005199760586442,
        "lo": -0.01690664291381836,
        "hi": 0.009131950512528419,
        "p": 0.554
       }
      },
      "boundary_recall": {
       "mean": 0.9949341438703141,
       "sd": 0.0035097280801801283,
       "seeds": [
        0.9908814589665653,
        0.9969604863221885,
        0.9969604863221885
       ],
       "lo": 0.986472001671791,
       "hi": 1.0,
       "delta_vs_mix": {
        "value": -0.0020263424518743856,
        "lo": -0.00619196891784668,
        "hi": 0.0,
        "p": 0.694
       }
      },
      "failed_f1": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     }
    }
   },
   "pour-screws-into-funnel": {
    "n": 57,
    "gold_failed_attempts": 0,
    "regimes": {
     "mix": {
      "seg_f1_iou80": {
       "mean": 1.0,
       "sd": 0.0,
       "seeds": [
        1.0,
        1.0,
        1.0
       ],
       "lo": 1.0,
       "hi": 1.0
      },
      "boundary_err_s": {
       "mean": 0.12850000000000006,
       "sd": 0.0035118845842842233,
       "seeds": [
        0.12532456140350884,
        0.13227192982456143,
        0.1279035087719299
       ],
       "lo": 0.10791228041052818,
       "hi": 0.15132039375603198
      },
      "boundary_recall": {
       "mean": 1.0,
       "sd": 0.0,
       "seeds": [
        1.0,
        1.0,
        1.0
       ],
       "lo": 1.0,
       "hi": 1.0
      },
      "failed_f1": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     },
     "rollouts": {
      "seg_f1_iou80": {
       "mean": 0.9610136452241717,
       "sd": 0.003376317363682054,
       "seeds": [
        0.9590643274853801,
        0.9649122807017544,
        0.9590643274853801
       ],
       "lo": 0.9220272898674011,
       "hi": 0.9922027587890625,
       "delta_vs_mix": {
        "value": -0.03898635477582835,
        "lo": -0.07797271013259888,
        "hi": -0.0077972412109375,
        "p": 0.01
       }
      },
      "boundary_err_s": {
       "mean": 0.3552923976608188,
       "sd": 0.018376517454680736,
       "seeds": [
        0.3650263157894738,
        0.3667543859649124,
        0.33409649122807017
       ],
       "lo": 0.312629746645689,
       "hi": 0.40326074287295344,
       "delta_vs_mix": {
        "value": 0.22679239766081877,
        "lo": 0.187113437987864,
        "hi": 0.2643743440508842,
        "p": 0.0
       }
      },
      "boundary_recall": {
       "mean": 1.0,
       "sd": 0.0,
       "seeds": [
        1.0,
        1.0,
        1.0
       ],
       "lo": 1.0,
       "hi": 1.0,
       "delta_vs_mix": {
        "value": 0.0,
        "lo": 0.0,
        "hi": 0.0,
        "p": 1.0
       }
      },
      "failed_f1": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     },
     "demos": {
      "seg_f1_iou80": {
       "mean": 1.0,
       "sd": 0.0,
       "seeds": [
        1.0,
        1.0,
        1.0
       ],
       "lo": 1.0,
       "hi": 1.0,
       "delta_vs_mix": {
        "value": 0.0,
        "lo": 0.0,
        "hi": 0.0,
        "p": 1.0
       }
      },
      "boundary_err_s": {
       "mean": 0.11370175438596491,
       "sd": 0.0031606712939855237,
       "seeds": [
        0.11557894736842106,
        0.11547368421052631,
        0.11005263157894739
       ],
       "lo": 0.09939883295446635,
       "hi": 0.13000344224274157,
       "delta_vs_mix": {
        "value": -0.014798245614035144,
        "lo": -0.03240335937589407,
        "hi": 0.0024478783831000323,
        "p": 0.108
       }
      },
      "boundary_recall": {
       "mean": 1.0,
       "sd": 0.0,
       "seeds": [
        1.0,
        1.0,
        1.0
       ],
       "lo": 1.0,
       "hi": 1.0,
       "delta_vs_mix": {
        "value": 0.0,
        "lo": 0.0,
        "hi": 0.0,
        "p": 1.0
       }
      },
      "failed_f1": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     }
    }
   },
   "route-cable-through-closed-hoops": {
    "n": 68,
    "gold_failed_attempts": 0,
    "regimes": {
     "mix": {
      "seg_f1_iou80": {
       "mean": 0.939090061682418,
       "sd": 0.004482235563004815,
       "seeds": [
        0.9411764705882353,
        0.9421487603305785,
        0.9339449541284404
       ],
       "lo": 0.9172151610255241,
       "hi": 0.9607843160629272
      },
      "boundary_err_s": {
       "mean": 0.32970072756847685,
       "sd": 0.006575606466612679,
       "seeds": [
        0.3309425531914898,
        0.33556687898089166,
        0.32259275053304903
       ],
       "lo": 0.2926114484667778,
       "hi": 0.36911236122250557
      },
      "boundary_recall": {
       "mean": 0.9873949579831933,
       "sd": 0.0021008403361344463,
       "seeds": [
        0.9873949579831933,
        0.9894957983193278,
        0.9852941176470589
       ],
       "lo": 0.9768907427787781,
       "hi": 0.9957982897758484
      },
      "failed_f1": {
       "mean": 0.0,
       "sd": NaN,
       "seeds": [
        0.0,
        NaN,
        NaN
       ],
       "lo": 0.0,
       "hi": 0.0
      },
      "failed_precision": {
       "mean": 0.0,
       "sd": NaN,
       "seeds": [
        0.0,
        NaN,
        NaN
       ],
       "lo": 0.0,
       "hi": 0.0
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     },
     "rollouts": {
      "seg_f1_iou80": {
       "mean": 0.821439664019878,
       "sd": 0.007365834608734034,
       "seeds": [
        0.8143382352941176,
        0.8209366391184573,
        0.8290441176470589
       ],
       "lo": 0.7809993177652359,
       "hi": 0.8552295565605164,
       "delta_vs_mix": {
        "value": -0.11765039766254004,
        "lo": -0.1537923738360405,
        "hi": -0.08213475793600082,
        "p": 0.0
       }
      },
      "boundary_err_s": {
       "mean": 0.41947438893615924,
       "sd": 0.012020987931124162,
       "seeds": [
        0.4333295964125562,
        0.4118194130925508,
        0.41327415730337075
       ],
       "lo": 0.38536864072084426,
       "hi": 0.45659506171941755,
       "delta_vs_mix": {
        "value": 0.08977366136768239,
        "lo": 0.06860485300421715,
        "hi": 0.11270558536052704,
        "p": 0.0
       }
      },
      "boundary_recall": {
       "mean": 0.934173669467787,
       "sd": 0.0032090866211175236,
       "seeds": [
        0.9369747899159664,
        0.930672268907563,
        0.9348739495798319
       ],
       "lo": 0.9152660965919495,
       "hi": 0.9509803652763367,
       "delta_vs_mix": {
        "value": -0.053221288515406306,
        "lo": -0.07352942228317261,
        "hi": -0.0329132080078125,
        "p": 0.0
       }
      },
      "failed_f1": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0,
       "delta_vs_mix": {
        "value": 0.0,
        "lo": 0.0,
        "hi": 0.0,
        "p": 1.0
       }
      },
      "failed_precision": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0,
       "delta_vs_mix": {
        "value": 0.0,
        "lo": 0.0,
        "hi": 0.0,
        "p": 1.0
       }
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     },
     "demos": {
      "seg_f1_iou80": {
       "mean": 0.9488518203424622,
       "sd": 0.0013830988356943158,
       "seeds": [
        0.9476584022038568,
        0.9503676470588235,
        0.9485294117647058
       ],
       "lo": 0.9286384761333466,
       "hi": 0.9678544223308563,
       "delta_vs_mix": {
        "value": 0.00976175866004414,
        "lo": 0.002374173700809479,
        "hi": 0.01822022795677185,
        "p": 0.012
       }
      },
      "boundary_err_s": {
       "mean": 0.31334704252023776,
       "sd": 0.004812070376479365,
       "seeds": [
        0.31091648822269796,
        0.3188895966029724,
        0.3102350427350429
       ],
       "lo": 0.2775904357433319,
       "hi": 0.3524588502943516,
       "delta_vs_mix": {
        "value": -0.016353685048239086,
        "lo": -0.03016056939959526,
        "hi": -0.0030461668968200756,
        "p": 0.02
       }
      },
      "boundary_recall": {
       "mean": 0.9845938375350141,
       "sd": 0.004373247898038141,
       "seeds": [
        0.9810924369747899,
        0.9894957983193278,
        0.9831932773109243
       ],
       "lo": 0.9740896224975586,
       "hi": 0.993697464466095,
       "delta_vs_mix": {
        "value": -0.0028011204481792618,
        "lo": -0.007720631361007689,
        "hi": 0.00211839079856871,
        "p": 0.35
       }
      },
      "failed_f1": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     }
    }
   },
   "open-toolbox-with-screwdriver": {
    "n": 65,
    "gold_failed_attempts": 0,
    "regimes": {
     "mix": {
      "seg_f1_iou80": {
       "mean": 0.9299145299145298,
       "sd": 0.00745110930519777,
       "seeds": [
        0.935042735042735,
        0.9213675213675213,
        0.9333333333333333
       ],
       "lo": 0.8956980124115944,
       "hi": 0.9606837630271912
      },
      "boundary_err_s": {
       "mean": 0.18679166666666655,
       "sd": 0.0049018417220719045,
       "seeds": [
        0.18178269230769212,
        0.19157884615384602,
        0.1870134615384615
       ],
       "lo": 0.15759719721972942,
       "hi": 0.21916796453297138
      },
      "boundary_recall": {
       "mean": 1.0,
       "sd": 0.0,
       "seeds": [
        1.0,
        1.0,
        1.0
       ],
       "lo": 1.0,
       "hi": 1.0
      },
      "failed_f1": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     },
     "rollouts": {
      "seg_f1_iou80": {
       "mean": 0.8210826210826211,
       "sd": 0.007895388296610238,
       "seeds": [
        0.8256410256410256,
        0.811965811965812,
        0.8256410256410256
       ],
       "lo": 0.7846153974533081,
       "hi": 0.8581196665763855,
       "delta_vs_mix": {
        "value": -0.10883190883190874,
        "lo": -0.13276350647211074,
        "hi": -0.0803418755531311,
        "p": 0.0
       }
      },
      "boundary_err_s": {
       "mean": 0.27266808283786154,
       "sd": 0.0025711667526319136,
       "seeds": [
        0.2698174757281552,
        0.274812015503876,
        0.2733747572815533
       ],
       "lo": 0.24748302213847637,
       "hi": 0.30204109475016594,
       "delta_vs_mix": {
        "value": 0.08587641617119499,
        "lo": 0.06362982988357543,
        "hi": 0.10751005448400973,
        "p": 0.0
       }
      },
      "boundary_recall": {
       "mean": 0.9910256410256411,
       "sd": 0.001110288979210815,
       "seeds": [
        0.9903846153846154,
        0.9923076923076923,
        0.9903846153846154
       ],
       "lo": 0.982692301273346,
       "hi": 0.9980769157409668,
       "delta_vs_mix": {
        "value": -0.008974358974358942,
        "lo": -0.017307698726654053,
        "hi": -0.0019230842590332031,
        "p": 0.018
       }
      },
      "failed_f1": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0
      },
      "failed_precision": {
       "mean": 0.0,
       "sd": 0.0,
       "seeds": [
        0.0,
        0.0,
        0.0
       ],
       "lo": 0.0,
       "hi": 0.0
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     },
     "demos": {
      "seg_f1_iou80": {
       "mean": 0.9441595441595441,
       "sd": 0.0026111542421400707,
       "seeds": [
        0.9435897435897436,
        0.9418803418803419,
        0.947008547008547
       ],
       "lo": 0.9133903384208679,
       "hi": 0.9715099930763245,
       "delta_vs_mix": {
        "value": 0.014245014245014231,
        "lo": 0.0011395812034606934,
        "hi": 0.030199408531188965,
        "p": 0.032
       }
      },
      "boundary_err_s": {
       "mean": 0.17898012820512807,
       "sd": 0.0014746581357578928,
       "seeds": [
        0.1806807692307691,
        0.17820384615384607,
        0.1780557692307691
       ],
       "lo": 0.1519534435123205,
       "hi": 0.20782793834805488,
       "delta_vs_mix": {
        "value": -0.007811538461538481,
        "lo": -0.01691078394651413,
        "hi": 0.0010088134557008721,
        "p": 0.086
       }
      },
      "boundary_recall": {
       "mean": 1.0,
       "sd": 0.0,
       "seeds": [
        1.0,
        1.0,
        1.0
       ],
       "lo": 1.0,
       "hi": 1.0,
       "delta_vs_mix": {
        "value": 0.0,
        "lo": 0.0,
        "hi": 0.0,
        "p": 1.0
       }
      },
      "failed_f1": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_precision": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      },
      "failed_recall": {
       "mean": null,
       "sd": null,
       "seeds": [
        NaN,
        NaN,
        NaN
       ],
       "lo": null,
       "hi": null
      }
     }
    }
   }
  }
 },
 "all": {
  "rollouts": {
   "mix": {
    "seg_f1_iou80": {
     "mean": 0.8862241972400412,
     "sd": 0.0021256988074736284,
     "lo": 0.8723196920752525,
     "hi": 0.8996173599362374
    },
    "boundary_err_s": {
     "mean": 0.26444278267207827,
     "sd": 0.0027479609543281506,
     "lo": 0.25379635639488696,
     "hi": 0.2754715542495251
    },
    "boundary_recall": {
     "mean": 0.9631941742363516,
     "sd": 0.0007729912367469048,
     "lo": 0.9542711532115937,
     "hi": 0.9710568922758103
    },
    "failed_f1": {
     "mean": 0.8089198468612899,
     "sd": 0.004494914328072444,
     "lo": 0.7872958970069885,
     "hi": 0.8294260936975478
    },
    "failed_precision": {
     "mean": 0.8186970088298593,
     "sd": 0.0037955153408914255,
     "lo": 0.794980444610119,
     "hi": 0.8419405713677407
    },
    "failed_recall": {
     "mean": 0.800221876020513,
     "sd": 0.006027227003266614,
     "lo": 0.7758195453882217,
     "hi": 0.8251712465286255
    }
   },
   "n": 1074,
   "rollouts": {
    "seg_f1_iou80": {
     "mean": 0.8866658966659626,
     "sd": 0.0017576897424917669,
     "lo": 0.8726308193802834,
     "hi": 0.9000972986221313,
     "delta_vs_mix": {
      "value": 0.00044169942592142686,
      "lo": -0.004271999597549481,
      "hi": 0.004626677632331911,
      "p": 0.816
     }
    },
    "boundary_err_s": {
     "mean": 0.2580444998480355,
     "sd": 0.0014954816787447803,
     "lo": 0.24739731334149836,
     "hi": 0.26884454205632213,
     "delta_vs_mix": {
      "value": -0.006398282824042756,
      "lo": -0.010500308126211187,
      "hi": -0.0021371289342642158,
      "p": 0.006
     }
    },
    "boundary_recall": {
     "mean": 0.9649080126366245,
     "sd": 0.003284385583955037,
     "lo": 0.9564237409830093,
     "hi": 0.9729679080843925,
     "delta_vs_mix": {
      "value": 0.001713838400272949,
      "lo": -0.0011182081699371127,
      "hi": 0.004802973270416216,
      "p": 0.252
     }
    },
    "failed_f1": {
     "mean": 0.8077670948868612,
     "sd": 0.002707731409712004,
     "lo": 0.7870649325847625,
     "hi": 0.8276812267303466,
     "delta_vs_mix": {
      "value": -0.0011527519744287673,
      "lo": -0.011423293054103851,
      "hi": 0.00950264871120457,
      "p": 0.766
     }
    },
    "failed_precision": {
     "mean": 0.8007201335664459,
     "sd": 0.0014266342697890795,
     "lo": 0.7766868701577186,
     "hi": 0.8242052313685417,
     "delta_vs_mix": {
      "value": -0.017976875263413405,
      "lo": -0.029486636519432046,
      "hi": -0.006765653491020185,
      "p": 0.0
     }
    },
    "failed_recall": {
     "mean": 0.8155095992638527,
     "sd": 0.0046141412661639515,
     "lo": 0.7938412296772003,
     "hi": 0.8386116731166839,
     "delta_vs_mix": {
      "value": 0.015287723243339713,
      "lo": 0.004223632514476691,
      "hi": 0.02869768351316454,
      "p": 0.006
     }
    }
   },
   "demos": {
    "seg_f1_iou80": {
     "mean": 0.7784276138112886,
     "sd": 0.003124258092494751,
     "lo": 0.7600444984436036,
     "hi": 0.7950301909446715,
     "delta_vs_mix": {
      "value": -0.10779658342875265,
      "lo": -0.12148692131042474,
      "hi": -0.09496654421091082,
      "p": 0.0
     }
    },
    "boundary_err_s": {
     "mean": 0.3625278715367007,
     "sd": 0.0013353612513249268,
     "lo": 0.34874503821134567,
     "hi": 0.37707263082265857,
     "delta_vs_mix": {
      "value": 0.09808508886462242,
      "lo": 0.08687061354517935,
      "hi": 0.10891572713851927,
      "p": 0.0
     }
    },
    "boundary_recall": {
     "mean": 0.9618295609584276,
     "sd": 0.001698783847422915,
     "lo": 0.9541425931453705,
     "hi": 0.969211774468422,
     "delta_vs_mix": {
      "value": -0.0013646132779239206,
      "lo": -0.008506006300449393,
      "hi": 0.005974379777908323,
      "p": 0.674
     }
    },
    "failed_f1": {
     "mean": 0.0004975124378109452,
     "sd": 0.0008617168196860087,
     "lo": 0.0,
     "hi": 0.001550387591123581,
     "delta_vs_mix": {
      "value": -0.808422334423479,
      "lo": -0.8290834166191052,
      "hi": -0.7867465597647243,
      "p": 0.0
     }
    },
    "failed_precision": {
     "mean": 1.0,
     "sd": NaN,
     "lo": 1.0,
     "hi": 1.0,
     "delta_vs_mix": {
      "value": 0.1813029911701407,
      "lo": 0.15815738826990125,
      "hi": 0.20562925010919572,
      "p": 0.0
     }
    },
    "failed_recall": {
     "mean": 0.00024968789013732833,
     "sd": 0.0004324721117525287,
     "lo": 0.0,
     "hi": 0.0007843137718737125,
     "delta_vs_mix": {
      "value": -0.7999721881303756,
      "lo": -0.8249132227897644,
      "hi": -0.775600690159481,
      "p": 0.0
     }
    }
   }
  },
  "demos": {
   "mix": {
    "seg_f1_iou80": {
     "mean": 0.9587273579999277,
     "sd": 0.0012277905696521268,
     "lo": 0.9484907793998718,
     "hi": 0.9679559814929962
    },
    "boundary_err_s": {
     "mean": 0.22098264809012957,
     "sd": 0.0010999790985722804,
     "lo": 0.2082962915673852,
     "hi": 0.2337131330370903
    },
    "boundary_recall": {
     "mean": 0.9964027047861349,
     "sd": 0.00042016806722688926,
     "lo": 0.9937772983312607,
     "hi": 0.9984609392285347
    },
    "failed_f1": {
     "mean": 0.0,
     "sd": NaN,
     "lo": 0.0,
     "hi": 0.0
    },
    "failed_precision": {
     "mean": 0.0,
     "sd": NaN,
     "lo": 0.0,
     "hi": 0.0
    },
    "failed_recall": {
     "mean": null,
     "sd": null,
     "lo": null,
     "hi": null
    }
   },
   "n": 310,
   "rollouts": {
    "seg_f1_iou80": {
     "mean": 0.8704682840359315,
     "sd": 0.0038955432146068145,
     "lo": 0.8545787680149078,
     "hi": 0.8851322534680366,
     "delta_vs_mix": {
      "value": -0.08825907396399624,
      "lo": -0.10217559874057776,
      "hi": -0.07593587636947632,
      "p": 0.0
     }
    },
    "boundary_err_s": {
     "mean": 0.34208948244304166,
     "sd": 0.004245371709013984,
     "lo": 0.32817313030362133,
     "hi": 0.35840156972408294,
     "delta_vs_mix": {
      "value": 0.12110683435291208,
      "lo": 0.10892353624105452,
      "hi": 0.13268731616437435,
      "p": 0.0
     }
    },
    "boundary_recall": {
     "mean": 0.9824820199873033,
     "sd": 0.0012538823100447338,
     "lo": 0.9778400525450707,
     "hi": 0.9866821226477622,
     "delta_vs_mix": {
      "value": -0.013920684798831573,
      "lo": -0.018596583604812686,
      "hi": -0.009495361745357514,
      "p": 0.0
     }
    },
    "failed_f1": {
     "mean": 0.0,
     "sd": 0.0,
     "lo": 0.0,
     "hi": 0.0,
     "delta_vs_mix": {
      "value": 0.0,
      "lo": 0.0,
      "hi": 0.0,
      "p": 1.0
     }
    },
    "failed_precision": {
     "mean": 0.0,
     "sd": 0.0,
     "lo": 0.0,
     "hi": 0.0,
     "delta_vs_mix": {
      "value": 0.0,
      "lo": 0.0,
      "hi": 0.0,
      "p": 1.0
     }
    },
    "failed_recall": {
     "mean": null,
     "sd": null,
     "lo": null,
     "hi": null
    }
   },
   "demos": {
    "seg_f1_iou80": {
     "mean": 0.9636204500164333,
     "sd": 0.0007324617953758799,
     "lo": 0.9544243630766869,
     "hi": 0.9720632085204124,
     "delta_vs_mix": {
      "value": 0.0048930920165055625,
      "lo": 0.00029600590467452893,
      "hi": 0.009521490037441337,
      "p": 0.03
     }
    },
    "boundary_err_s": {
     "mean": 0.21160456376551892,
     "sd": 0.0014909636987306262,
     "lo": 0.20010799147188663,
     "hi": 0.22438385806977748,
     "delta_vs_mix": {
      "value": -0.009378084324610653,
      "lo": -0.015588988550007354,
      "hi": -0.0024891367927193705,
      "p": 0.002
     }
    },
    "boundary_recall": {
     "mean": 0.9954372122061241,
     "sd": 0.0014522892020957438,
     "lo": 0.992618213891983,
     "hi": 0.9977591586112976,
     "delta_vs_mix": {
      "value": -0.0009654925800107739,
      "lo": -0.002356539666652635,
      "hi": 0.00028010636568071565,
      "p": 0.184
     }
    },
    "failed_f1": {
     "mean": null,
     "sd": null,
     "lo": null,
     "hi": null
    },
    "failed_precision": {
     "mean": null,
     "sd": null,
     "lo": null,
     "hi": null
    },
    "failed_recall": {
     "mean": null,
     "sd": null,
     "lo": null,
     "hi": null
    }
   }
  }
 },
 "training": {
  "connect-dc-jack|demos": {
   "hours": 4.206796296296297,
   "n_demos": 239,
   "n_rollouts": 0,
   "fit_seconds_mean": 66.3119117418925
  },
  "connect-dc-jack|mix": {
   "hours": 14.50211111111111,
   "n_demos": 239,
   "n_rollouts": 864,
   "fit_seconds_mean": 63.852078119913735
  },
  "connect-dc-jack|rollouts": {
   "hours": 10.295314814814814,
   "n_demos": 0,
   "n_rollouts": 864,
   "fit_seconds_mean": 82.30630413691203
  },
  "open-toolbox-with-screwdriver|demos": {
   "hours": 3.021240740740741,
   "n_demos": 259,
   "n_rollouts": 0,
   "fit_seconds_mean": 68.2603862285614
  },
  "open-toolbox-with-screwdriver|mix": {
   "hours": 9.422805555555556,
   "n_demos": 259,
   "n_rollouts": 744,
   "fit_seconds_mean": 83.21795193354289
  },
  "open-toolbox-with-screwdriver|rollouts": {
   "hours": 6.401564814814815,
   "n_demos": 0,
   "n_rollouts": 744,
   "fit_seconds_mean": 54.338831424713135
  },
  "pour-screws-into-funnel|demos": {
   "hours": 0.8591851851851852,
   "n_demos": 227,
   "n_rollouts": 0,
   "fit_seconds_mean": 36.783058961232506
  },
  "pour-screws-into-funnel|mix": {
   "hours": 5.994703703703704,
   "n_demos": 227,
   "n_rollouts": 1440,
   "fit_seconds_mean": 88.66185744603474
  },
  "pour-screws-into-funnel|rollouts": {
   "hours": 5.135518518518518,
   "n_demos": 0,
   "n_rollouts": 1440,
   "fit_seconds_mean": 87.8585410118103
  },
  "route-cable-through-closed-hoops|demos": {
   "hours": 5.140157407407407,
   "n_demos": 274,
   "n_rollouts": 0,
   "fit_seconds_mean": 68.84656612078349
  },
  "route-cable-through-closed-hoops|mix": {
   "hours": 10.875231481481483,
   "n_demos": 274,
   "n_rollouts": 624,
   "fit_seconds_mean": 60.82296665509542
  },
  "route-cable-through-closed-hoops|rollouts": {
   "hours": 5.735074074074074,
   "n_demos": 0,
   "n_rollouts": 624,
   "fit_seconds_mean": 77.4766395886739
  },
  "sort-screws-into-bins|demos": {
   "hours": 3.2553240740740734,
   "n_demos": 238,
   "n_rollouts": 0,
   "fit_seconds_mean": 67.51589941978455
  },
  "sort-screws-into-bins|mix": {
   "hours": 13.431129629629629,
   "n_demos": 238,
   "n_rollouts": 624,
   "fit_seconds_mean": 85.67959904670715
  },
  "sort-screws-into-bins|rollouts": {
   "hours": 10.175805555555556,
   "n_demos": 0,
   "n_rollouts": 624,
   "fit_seconds_mean": 58.617123206456505
  }
 }
}