{
  "dataset": {
    "frames": 549787,
    "repo_id": "TianxingChen/RoboTwin2.0",
    "revision": "981c92aa34d8f94d4cff47e0d5bc2f7d4e0af042",
    "scope": "50 clean episodes/task across50tasks, original train+val partitions both included in original all-clean training. No held-out validation, seed7, normalization fixed.",
    "trajectories": 2500
  },
  "date": "2026-10-25",
  "dependency_models": {
    "base": {
      "repo_id": "robbyant/lingbot-vla-v2-6b",
      "revision": "11c703bf6a5c1f45b3b69168482da11fdbba53d7"
    },
    "depth_teacher": {
      "repo_id": "Ruicheng/moge-2-vitb-normal",
      "revision": "ca5f0e07ff01d3e5a364c1d954ed12ee1814b368"
    },
    "tokenizer": {
      "repo_id": "Qwen/Qwen3-VL-4B-Instruct",
      "revision": "ebb281ec70b05090aa6165b016eac8ec08e71b17"
    }
  },
  "eval_note": "Both original benchmarks completed. Compile/TF32/autocast disabled, eager action attention; official FA2 vision internally casts QKV to BF16. Not pure all-FP32 operations.",
  "models": {
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            "clean": {
              "episodes": 10,
              "successes": 10
            },
            "randomized": {
              "episodes": 10,
              "successes": 7
            }
          },
          "beat_block_hammer": {
            "clean": {
              "episodes": 10,
              "successes": 10
            },
            "randomized": {
              "episodes": 10,
              "successes": 6
            }
          },
          "blocks_ranking_rgb": {
            "clean": {
              "episodes": 10,
              "successes": 7
            },
            "randomized": {
              "episodes": 10,
              "successes": 6
            }
          },
          "blocks_ranking_size": {
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              "episodes": 10,
              "successes": 5
            },
            "randomized": {
              "episodes": 10,
              "successes": 3
            }
          },
          "click_alarmclock": {
            "clean": {
              "episodes": 10,
              "successes": 10
            },
            "randomized": {
              "episodes": 10,
              "successes": 9
            }
          },
          "click_bell": {
            "clean": {
              "episodes": 10,
              "successes": 10
            },
            "randomized": {
              "episodes": 10,
              "successes": 4
            }
          },
          "dump_bin_bigbin": {
            "clean": {
              "episodes": 10,
              "successes": 10
            },
            "randomized": {
              "episodes": 10,
              "successes": 10
            }
          },
          "grab_roller": {
            "clean": {
              "episodes": 10,
              "successes": 10
            },
            "randomized": {
              "episodes": 10,
              "successes": 6
            }
          },
          "handover_block": {
            "clean": {
              "episodes": 10,
              "successes": 4
            },
            "randomized": {
              "episodes": 10,
              "successes": 2
            }
          },
          "handover_mic": {
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              "episodes": 10,
              "successes": 8
            },
            "randomized": {
              "episodes": 10,
              "successes": 2
            }
          },
          "hanging_mug": {
            "clean": {
              "episodes": 10,
              "successes": 5
            },
            "randomized": {
              "episodes": 10,
              "successes": 0
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          },
          "lift_pot": {
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              "episodes": 10,
              "successes": 8
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            "randomized": {
              "episodes": 10,
              "successes": 0
            }
          },
          "move_can_pot": {
            "clean": {
              "episodes": 10,
              "successes": 8
            },
            "randomized": {
              "episodes": 10,
              "successes": 1
            }
          },
          "move_pillbottle_pad": {
            "clean": {
              "episodes": 10,
              "successes": 8
            },
            "randomized": {
              "episodes": 10,
              "successes": 2
            }
          },
          "move_playingcard_away": {
            "clean": {
              "episodes": 10,
              "successes": 9
            },
            "randomized": {
              "episodes": 10,
              "successes": 7
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          },
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              "episodes": 10,
              "successes": 2
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              "episodes": 10,
              "successes": 0
            }
          },
          "open_laptop": {
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              "episodes": 10,
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            },
            "randomized": {
              "episodes": 10,
              "successes": 1
            }
          },
          "open_microwave": {
            "clean": {
              "episodes": 10,
              "successes": 7
            },
            "randomized": {
              "episodes": 10,
              "successes": 1
            }
          },
          "pick_diverse_bottles": {
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              "episodes": 10,
              "successes": 7
            },
            "randomized": {
              "episodes": 10,
              "successes": 4
            }
          },
          "pick_dual_bottles": {
            "clean": {
              "episodes": 10,
              "successes": 8
            },
            "randomized": {
              "episodes": 10,
              "successes": 3
            }
          },
          "place_a2b_left": {
            "clean": {
              "episodes": 10,
              "successes": 8
            },
            "randomized": {
              "episodes": 10,
              "successes": 1
            }
          },
          "place_a2b_right": {
            "clean": {
              "episodes": 10,
              "successes": 6
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            "randomized": {
              "episodes": 10,
              "successes": 1
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          },
          "place_bread_basket": {
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              "episodes": 10,
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            "randomized": {
              "episodes": 10,
              "successes": 6
            }
          },
          "place_bread_skillet": {
            "clean": {
              "episodes": 10,
              "successes": 8
            },
            "randomized": {
              "episodes": 10,
              "successes": 3
            }
          },
          "place_burger_fries": {
            "clean": {
              "episodes": 10,
              "successes": 9
            },
            "randomized": {
              "episodes": 10,
              "successes": 7
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          },
          "place_can_basket": {
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              "episodes": 10,
              "successes": 9
            },
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              "episodes": 10,
              "successes": 0
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          },
          "place_cans_plasticbox": {
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              "episodes": 10,
              "successes": 9
            },
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              "episodes": 10,
              "successes": 8
            }
          },
          "place_container_plate": {
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              "episodes": 10,
              "successes": 10
            },
            "randomized": {
              "episodes": 10,
              "successes": 9
            }
          },
          "place_dual_shoes": {
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              "episodes": 10,
              "successes": 7
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              "episodes": 10,
              "successes": 1
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          },
          "place_empty_cup": {
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              "episodes": 10,
              "successes": 10
            },
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              "episodes": 10,
              "successes": 6
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          },
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              "episodes": 10,
              "successes": 3
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              "episodes": 10,
              "successes": 5
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          },
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              "episodes": 10,
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              "episodes": 10,
              "successes": 3
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          },
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              "episodes": 10,
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              "episodes": 10,
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          },
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              "episodes": 10,
              "successes": 5
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              "episodes": 10,
              "successes": 0
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          },
          "place_object_stand": {
            "clean": {
              "episodes": 10,
              "successes": 8
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            "randomized": {
              "episodes": 10,
              "successes": 4
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          },
          "place_phone_stand": {
            "clean": {
              "episodes": 10,
              "successes": 8
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            "randomized": {
              "episodes": 10,
              "successes": 3
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          },
          "place_shoe": {
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              "episodes": 10,
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              "episodes": 10,
              "successes": 4
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          },
          "press_stapler": {
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              "episodes": 10,
              "successes": 9
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            "randomized": {
              "episodes": 10,
              "successes": 4
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          },
          "put_bottles_dustbin": {
            "clean": {
              "episodes": 10,
              "successes": 4
            },
            "randomized": {
              "episodes": 10,
              "successes": 4
            }
          },
          "put_object_cabinet": {
            "clean": {
              "episodes": 10,
              "successes": 5
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            "randomized": {
              "episodes": 10,
              "successes": 2
            }
          },
          "rotate_qrcode": {
            "clean": {
              "episodes": 10,
              "successes": 10
            },
            "randomized": {
              "episodes": 10,
              "successes": 1
            }
          },
          "scan_object": {
            "clean": {
              "episodes": 10,
              "successes": 4
            },
            "randomized": {
              "episodes": 10,
              "successes": 3
            }
          },
          "shake_bottle": {
            "clean": {
              "episodes": 10,
              "successes": 10
            },
            "randomized": {
              "episodes": 10,
              "successes": 10
            }
          },
          "shake_bottle_horizontally": {
            "clean": {
              "episodes": 10,
              "successes": 10
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            "randomized": {
              "episodes": 10,
              "successes": 10
            }
          },
          "stack_blocks_three": {
            "clean": {
              "episodes": 10,
              "successes": 8
            },
            "randomized": {
              "episodes": 10,
              "successes": 4
            }
          },
          "stack_blocks_two": {
            "clean": {
              "episodes": 10,
              "successes": 10
            },
            "randomized": {
              "episodes": 10,
              "successes": 6
            }
          },
          "stack_bowls_three": {
            "clean": {
              "episodes": 10,
              "successes": 9
            },
            "randomized": {
              "episodes": 10,
              "successes": 6
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          },
          "stack_bowls_two": {
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              "episodes": 10,
              "successes": 10
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              "episodes": 10,
              "successes": 9
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          },
          "stamp_seal": {
            "clean": {
              "episodes": 10,
              "successes": 5
            },
            "randomized": {
              "episodes": 10,
              "successes": 0
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          },
          "turn_switch": {
            "clean": {
              "episodes": 10,
              "successes": 3
            },
            "randomized": {
              "episodes": 10,
              "successes": 4
            }
          }
        },
        "completed_on": "2026-10-09",
        "inference_runtime": [
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            "autocast": false,
            "compile": false,
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            "precision": "fp32",
            "tf32": false,
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            "vision_attention_precision_note": "Official FA2 vision patch internally casts FP32 Q/K/V to BF16, then restores output dtype; FP32 here denotes official FP32 parameter/main-path mode, not all operations IEEE FP32."
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            "vision_attention_precision_note": "Official FA2 vision patch internally casts FP32 Q/K/V to BF16, then restores output dtype; FP32 here denotes official FP32 parameter/main-path mode, not all operations IEEE FP32."
          },
          {
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        "instruction_protocol_note": "clean uses seen template/object vocabulary; randomized uses unseen instructions. This split changes both scene setting and instruction pool; not a pure visual randomization ablation.",
        "instruction_types": {
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            "successes": 381
          },
          "unseen": {
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        "metrics": {
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        "render_gpu": "NVIDIA GeForce RTX 5090 32GB",
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              "episodes": 10,
              "successes": 10
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            "randomized": {
              "episodes": 10,
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          "beat_block_hammer": {
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              "episodes": 10,
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              "episodes": 10,
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              "episodes": 10,
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          },
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              "episodes": 10,
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              "episodes": 10,
              "successes": 2
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          },
          "click_alarmclock": {
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              "episodes": 10,
              "successes": 10
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              "episodes": 10,
              "successes": 6
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          },
          "click_bell": {
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              "episodes": 10,
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              "episodes": 10,
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          },
          "dump_bin_bigbin": {
            "clean": {
              "episodes": 10,
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              "episodes": 10,
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          },
          "grab_roller": {
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              "episodes": 10,
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              "episodes": 10,
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          },
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              "episodes": 10,
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              "episodes": 10,
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          "handover_mic": {
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              "episodes": 10,
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              "episodes": 10,
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          },
          "hanging_mug": {
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              "episodes": 10,
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              "episodes": 10,
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          },
          "lift_pot": {
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              "episodes": 10,
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              "episodes": 10,
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          },
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              "episodes": 10,
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              "episodes": 10,
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          },
          "move_pillbottle_pad": {
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              "episodes": 10,
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              "episodes": 10,
              "successes": 2
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          },
          "move_playingcard_away": {
            "clean": {
              "episodes": 10,
              "successes": 10
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              "episodes": 10,
              "successes": 6
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          },
          "move_stapler_pad": {
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              "episodes": 10,
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              "episodes": 10,
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          },
          "open_laptop": {
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              "episodes": 10,
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              "episodes": 10,
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          },
          "open_microwave": {
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              "episodes": 10,
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              "episodes": 10,
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          },
          "pick_diverse_bottles": {
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              "episodes": 10,
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              "episodes": 10,
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          },
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              "episodes": 10,
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              "episodes": 10,
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          },
          "place_a2b_left": {
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              "episodes": 10,
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              "episodes": 10,
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          },
          "place_a2b_right": {
            "clean": {
              "episodes": 10,
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            "randomized": {
              "episodes": 10,
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          },
          "place_bread_basket": {
            "clean": {
              "episodes": 10,
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              "episodes": 10,
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          },
          "place_bread_skillet": {
            "clean": {
              "episodes": 10,
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              "episodes": 10,
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          },
          "place_burger_fries": {
            "clean": {
              "episodes": 10,
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            "randomized": {
              "episodes": 10,
              "successes": 8
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          },
          "place_can_basket": {
            "clean": {
              "episodes": 10,
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              "episodes": 10,
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          },
          "place_cans_plasticbox": {
            "clean": {
              "episodes": 10,
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              "episodes": 10,
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          },
          "place_container_plate": {
            "clean": {
              "episodes": 10,
              "successes": 10
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            "randomized": {
              "episodes": 10,
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          },
          "place_dual_shoes": {
            "clean": {
              "episodes": 10,
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              "episodes": 10,
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          },
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            "clean": {
              "episodes": 10,
              "successes": 10
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              "episodes": 10,
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          },
          "place_fan": {
            "clean": {
              "episodes": 10,
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              "episodes": 10,
              "successes": 1
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          },
          "place_mouse_pad": {
            "clean": {
              "episodes": 10,
              "successes": 7
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            "randomized": {
              "episodes": 10,
              "successes": 2
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          },
          "place_object_basket": {
            "clean": {
              "episodes": 10,
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            "randomized": {
              "episodes": 10,
              "successes": 4
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          },
          "place_object_scale": {
            "clean": {
              "episodes": 10,
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