{ "algorithm": "task-balanced clipped double-CQL with slow-consensus deployment", "tasks": 50, "train_episodes_per_task": 16, "validation_episodes_per_task": 3, "test_episodes_per_task": 3, "validation": { "rl": { "episodes": 150, "successes": 111, "success_rate": 0.74, "mean_success_frames": 183.42342342342343, "speed_counts": { "slow": 975, "fast": 347, "normal": 376 }, "switches": 183, "chunks": 1698 }, "slow": { "episodes": 150, "successes": 121, "success_rate": 0.8066666666666666, "mean_success_frames": 255.19834710743802, "speed_counts": { "slow": 1704 }, "switches": 0, "chunks": 1704 }, "paired": { "episodes": 150, "both_success": 107, "rl_only_success": 4, "slow_only_success": 14, "both_fail": 25, "both_success_speed": { "episodes": 107, "rl_mean_frames": 183.42056074766356, "slow_mean_frames": 218.69158878504672, "rl_faster": 75, "ties": 30, "slow_faster": 2, "mean_frame_delta": -35.271028037383175 } }, "per_task": { "adjust_bottle": { "episodes": 3, "rl_successes": 3, 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"rl_only_success": 0, "slow_only_success": 1, "both_fail": 0 }, "grab_roller": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "handover_block": { "episodes": 3, "rl_successes": 0, "slow_successes": 0, "both_success": 0, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 3 }, "handover_mic": { "episodes": 3, "rl_successes": 3, "slow_successes": 2, "both_success": 2, "rl_only_success": 1, "slow_only_success": 0, "both_fail": 0 }, "hanging_mug": { "episodes": 3, "rl_successes": 0, "slow_successes": 0, "both_success": 0, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 3 }, "lift_pot": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 }, "move_can_pot": { "episodes": 3, "rl_successes": 2, "slow_successes": 3, "both_success": 2, "rl_only_success": 0, "slow_only_success": 1, "both_fail": 0 }, "move_pillbottle_pad": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "move_playingcard_away": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 }, "move_stapler_pad": { "episodes": 3, "rl_successes": 0, "slow_successes": 0, "both_success": 0, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 3 }, "open_laptop": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "open_microwave": { "episodes": 3, "rl_successes": 0, "slow_successes": 3, "both_success": 0, "rl_only_success": 0, "slow_only_success": 3, "both_fail": 0 }, "pick_diverse_bottles": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "pick_dual_bottles": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_a2b_left": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_a2b_right": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_bread_basket": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_bread_skillet": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_burger_fries": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_can_basket": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_cans_plasticbox": { "episodes": 3, "rl_successes": 2, "slow_successes": 3, "both_success": 2, "rl_only_success": 0, "slow_only_success": 1, "both_fail": 0 }, "place_container_plate": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_dual_shoes": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 }, "place_empty_cup": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_fan": { "episodes": 3, "rl_successes": 2, "slow_successes": 1, "both_success": 1, "rl_only_success": 1, "slow_only_success": 0, "both_fail": 1 }, "place_mouse_pad": { "episodes": 3, "rl_successes": 0, "slow_successes": 0, "both_success": 0, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 3 }, "place_object_basket": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_object_scale": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_object_stand": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_phone_stand": { "episodes": 3, "rl_successes": 1, "slow_successes": 2, "both_success": 1, "rl_only_success": 0, "slow_only_success": 1, "both_fail": 1 }, "place_shoe": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "press_stapler": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "put_bottles_dustbin": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "put_object_cabinet": { "episodes": 3, "rl_successes": 1, "slow_successes": 2, "both_success": 1, "rl_only_success": 0, "slow_only_success": 1, "both_fail": 1 }, "rotate_qrcode": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "scan_object": { "episodes": 3, "rl_successes": 2, "slow_successes": 3, "both_success": 2, "rl_only_success": 0, "slow_only_success": 1, "both_fail": 0 }, "shake_bottle": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "shake_bottle_horizontally": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "stack_blocks_three": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 1, "rl_only_success": 1, "slow_only_success": 1, "both_fail": 0 }, "stack_blocks_two": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "stack_bowls_three": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 }, "stack_bowls_two": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "stamp_seal": { "episodes": 3, "rl_successes": 0, "slow_successes": 0, "both_success": 0, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 3 }, "turn_switch": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 } } }, "safety_profile": { "force_slow_tasks": [ "blocks_ranking_rgb", "blocks_ranking_size", "click_bell", "dump_bin_bigbin", "move_can_pot", "open_microwave", "place_cans_plasticbox", "place_phone_stand", "put_object_cabinet", "scan_object", "stack_blocks_three" ], "controller_tasks": [ "adjust_bottle", "beat_block_hammer", "click_alarmclock", "grab_roller", "handover_block", "handover_mic", "hanging_mug", "lift_pot", "move_pillbottle_pad", "move_playingcard_away", "move_stapler_pad", "open_laptop", "pick_diverse_bottles", "pick_dual_bottles", "place_a2b_left", "place_a2b_right", "place_bread_basket", "place_bread_skillet", "place_burger_fries", "place_can_basket", "place_container_plate", "place_dual_shoes", "place_empty_cup", "place_fan", "place_mouse_pad", "place_object_basket", "place_object_scale", "place_object_stand", "place_shoe", "press_stapler", "put_bottles_dustbin", "rotate_qrcode", "shake_bottle", "shake_bottle_horizontally", "stack_blocks_two", "stack_bowls_three", "stack_bowls_two", "stamp_seal", "turn_switch" ], "decisions": { "adjust_bottle": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "beat_block_hammer": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "blocks_ranking_rgb": { "episodes": 3, "controller_successes": 1, "slow_successes": 2, "slow_only_successes": 1, "policy": "slow" }, "blocks_ranking_size": { "episodes": 3, "controller_successes": 0, "slow_successes": 2, "slow_only_successes": 2, "policy": "slow" }, "click_alarmclock": { "episodes": 3, "controller_successes": 3, "slow_successes": 2, "slow_only_successes": 0, "policy": "controller" }, "click_bell": { "episodes": 3, "controller_successes": 2, "slow_successes": 3, "slow_only_successes": 1, "policy": "slow" }, "dump_bin_bigbin": { "episodes": 3, "controller_successes": 2, "slow_successes": 3, "slow_only_successes": 1, "policy": "slow" }, "grab_roller": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "handover_block": { "episodes": 3, "controller_successes": 0, "slow_successes": 0, "slow_only_successes": 0, "policy": "controller" }, "handover_mic": { "episodes": 3, "controller_successes": 3, "slow_successes": 2, "slow_only_successes": 0, "policy": "controller" }, "hanging_mug": { "episodes": 3, "controller_successes": 0, "slow_successes": 0, "slow_only_successes": 0, "policy": "controller" }, "lift_pot": { "episodes": 3, "controller_successes": 2, "slow_successes": 2, "slow_only_successes": 0, "policy": "controller" }, "move_can_pot": { "episodes": 3, "controller_successes": 2, "slow_successes": 3, "slow_only_successes": 1, "policy": "slow" }, "move_pillbottle_pad": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "move_playingcard_away": { "episodes": 3, "controller_successes": 2, "slow_successes": 2, "slow_only_successes": 0, "policy": "controller" }, "move_stapler_pad": { "episodes": 3, "controller_successes": 0, "slow_successes": 0, "slow_only_successes": 0, "policy": "controller" }, "open_laptop": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "open_microwave": { "episodes": 3, "controller_successes": 0, "slow_successes": 3, "slow_only_successes": 3, "policy": "slow" }, "pick_diverse_bottles": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "pick_dual_bottles": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "place_a2b_left": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "place_a2b_right": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "place_bread_basket": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "place_bread_skillet": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "place_burger_fries": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "place_can_basket": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "place_cans_plasticbox": { "episodes": 3, "controller_successes": 2, "slow_successes": 3, "slow_only_successes": 1, "policy": "slow" }, "place_container_plate": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "place_dual_shoes": { "episodes": 3, "controller_successes": 2, "slow_successes": 2, "slow_only_successes": 0, "policy": "controller" }, "place_empty_cup": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "place_fan": { "episodes": 3, "controller_successes": 2, "slow_successes": 1, "slow_only_successes": 0, "policy": "controller" }, "place_mouse_pad": { "episodes": 3, "controller_successes": 0, "slow_successes": 0, "slow_only_successes": 0, "policy": "controller" }, "place_object_basket": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "place_object_scale": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "place_object_stand": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "place_phone_stand": { "episodes": 3, "controller_successes": 1, "slow_successes": 2, "slow_only_successes": 1, "policy": "slow" }, "place_shoe": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "press_stapler": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "put_bottles_dustbin": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "put_object_cabinet": { "episodes": 3, "controller_successes": 1, "slow_successes": 2, "slow_only_successes": 1, "policy": "slow" }, "rotate_qrcode": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "scan_object": { "episodes": 3, "controller_successes": 2, "slow_successes": 3, "slow_only_successes": 1, "policy": "slow" }, "shake_bottle": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "shake_bottle_horizontally": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "stack_blocks_three": { "episodes": 3, "controller_successes": 2, "slow_successes": 2, "slow_only_successes": 1, "policy": "slow" }, "stack_blocks_two": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "stack_bowls_three": { "episodes": 3, "controller_successes": 2, "slow_successes": 2, "slow_only_successes": 0, "policy": "controller" }, "stack_bowls_two": { "episodes": 3, "controller_successes": 3, "slow_successes": 3, "slow_only_successes": 0, "policy": "controller" }, "stamp_seal": { "episodes": 3, "controller_successes": 0, "slow_successes": 0, "slow_only_successes": 0, "policy": "controller" }, "turn_switch": { "episodes": 3, "controller_successes": 2, "slow_successes": 2, "slow_only_successes": 0, "policy": "controller" } } }, "test": { "rl": { "episodes": 150, "successes": 115, "success_rate": 0.7666666666666667, "mean_success_frames": 231.24347826086955, "speed_counts": { "slow": 1150, "normal": 262, "fast": 231 }, "switches": 95, "chunks": 1643 }, "slow": { "episodes": 150, "successes": 114, "success_rate": 0.76, "mean_success_frames": 258.7631578947368, "speed_counts": { "slow": 1719 }, "switches": 0, "chunks": 1719 }, "paired": { "episodes": 150, "both_success": 108, "rl_only_success": 7, "slow_only_success": 6, "both_fail": 29, "both_success_speed": { "episodes": 108, "rl_mean_frames": 235.34259259259258, "slow_mean_frames": 257.68518518518516, "rl_faster": 64, "ties": 40, "slow_faster": 4, "mean_frame_delta": -22.34259259259259 } }, "per_task": { "adjust_bottle": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "beat_block_hammer": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "blocks_ranking_rgb": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "blocks_ranking_size": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 }, "click_alarmclock": { "episodes": 3, "rl_successes": 3, "slow_successes": 2, "both_success": 2, "rl_only_success": 1, "slow_only_success": 0, "both_fail": 0 }, "click_bell": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 }, "dump_bin_bigbin": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "grab_roller": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "handover_block": { "episodes": 3, "rl_successes": 1, "slow_successes": 1, "both_success": 1, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 2 }, "handover_mic": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "hanging_mug": { "episodes": 3, "rl_successes": 0, "slow_successes": 1, "both_success": 0, "rl_only_success": 0, "slow_only_success": 1, "both_fail": 2 }, "lift_pot": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 }, "move_can_pot": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 }, "move_pillbottle_pad": { "episodes": 3, "rl_successes": 3, "slow_successes": 2, "both_success": 2, "rl_only_success": 1, "slow_only_success": 0, "both_fail": 0 }, "move_playingcard_away": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "move_stapler_pad": { "episodes": 3, "rl_successes": 0, "slow_successes": 0, "both_success": 0, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 3 }, "open_laptop": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "open_microwave": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "pick_diverse_bottles": { "episodes": 3, "rl_successes": 1, "slow_successes": 2, "both_success": 1, "rl_only_success": 0, "slow_only_success": 1, "both_fail": 1 }, "pick_dual_bottles": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_a2b_left": { "episodes": 3, "rl_successes": 2, "slow_successes": 3, "both_success": 2, "rl_only_success": 0, "slow_only_success": 1, "both_fail": 0 }, "place_a2b_right": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 }, "place_bread_basket": { "episodes": 3, "rl_successes": 1, "slow_successes": 2, "both_success": 1, "rl_only_success": 0, "slow_only_success": 1, "both_fail": 1 }, "place_bread_skillet": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_burger_fries": { "episodes": 3, "rl_successes": 2, "slow_successes": 3, "both_success": 2, "rl_only_success": 0, "slow_only_success": 1, "both_fail": 0 }, "place_can_basket": { "episodes": 3, "rl_successes": 3, "slow_successes": 2, "both_success": 2, "rl_only_success": 1, "slow_only_success": 0, "both_fail": 0 }, "place_cans_plasticbox": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_container_plate": { "episodes": 3, "rl_successes": 3, "slow_successes": 2, "both_success": 2, "rl_only_success": 1, "slow_only_success": 0, "both_fail": 0 }, "place_dual_shoes": { "episodes": 3, "rl_successes": 2, "slow_successes": 1, "both_success": 1, "rl_only_success": 1, "slow_only_success": 0, "both_fail": 1 }, "place_empty_cup": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 }, "place_fan": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_mouse_pad": { "episodes": 3, "rl_successes": 2, "slow_successes": 1, "both_success": 1, "rl_only_success": 1, "slow_only_success": 0, "both_fail": 1 }, "place_object_basket": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_object_scale": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 }, "place_object_stand": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "place_phone_stand": { "episodes": 3, "rl_successes": 1, "slow_successes": 1, "both_success": 1, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 2 }, "place_shoe": { "episodes": 3, "rl_successes": 2, "slow_successes": 1, "both_success": 1, "rl_only_success": 1, "slow_only_success": 0, "both_fail": 1 }, "press_stapler": { "episodes": 3, "rl_successes": 1, "slow_successes": 1, "both_success": 1, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 2 }, "put_bottles_dustbin": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "put_object_cabinet": { "episodes": 3, "rl_successes": 1, "slow_successes": 1, "both_success": 1, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 2 }, "rotate_qrcode": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "scan_object": { "episodes": 3, "rl_successes": 1, "slow_successes": 1, "both_success": 1, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 2 }, "shake_bottle": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "shake_bottle_horizontally": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "stack_blocks_three": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 }, "stack_blocks_two": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "stack_bowls_three": { "episodes": 3, "rl_successes": 2, "slow_successes": 3, "both_success": 2, "rl_only_success": 0, "slow_only_success": 1, "both_fail": 0 }, "stack_bowls_two": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "stamp_seal": { "episodes": 3, "rl_successes": 3, "slow_successes": 3, "both_success": 3, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 0 }, "turn_switch": { "episodes": 3, "rl_successes": 2, "slow_successes": 2, "both_success": 2, "rl_only_success": 0, "slow_only_success": 0, "both_fail": 1 } } } }