{
  "ckpt": "outputs/closed_loop/bc_smooth/bc_base.pt",
  "num_envs": 64,
  "rounds": 4,
  "rollouts": 256,
  "seed": 987654,
  "success_def": "insert_depth >= 0.03 m & |tilt| <= ~20 deg & peg bottom xy within 0.006 m of hole center, latched",
  "sr_base_bc": 0.0,
  "sr_std": 0.0,
  "rounds_detail": [
    {
      "round": 0,
      "sr": 0.0,
      "success": [
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false
      ],
      "success_step": [
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1
      ],
      "depth_max": [
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355
      ]
    },
    {
      "round": 1,
      "sr": 0.0,
      "success": [
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false
      ],
      "success_step": [
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1
      ],
      "depth_max": [
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355
      ]
    },
    {
      "round": 2,
      "sr": 0.0,
      "success": [
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false
      ],
      "success_step": [
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1
      ],
      "depth_max": [
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355
      ]
    },
    {
      "round": 3,
      "sr": 0.0,
      "success": [
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false,
        false
      ],
      "success_step": [
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1,
        -1
      ],
      "depth_max": [
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355,
        0.0355
      ]
    }
  ]
}