| { |
| "note": "Segment F1 (x100) against the boundary tolerance in seconds (--seg-tol), 899 test rollouts, release grader, 300 episode-bootstrap resamples. case1 = ours, known policy family; case2 = ours, family held out; terra = Terra zero-shot (same in both). ours_ci / terra_ci = [value, lo, hi]; delta (case1) = terra - ours.", |
| "sweep": { |
| "case1": { |
| "1.5": { |
| "n": 899, |
| "ours": { |
| "connect-dc-jack": 83.472, |
| "open-toolbox-with-screwdriver": 96.321, |
| "pour-screws-into-funnel": 97.586, |
| "route-cable-through-closed-hoops": 87.883, |
| "sort-screws-into-bins": 87.5, |
| "all": 90.552 |
| }, |
| "terra": { |
| "connect-dc-jack": 71.729, |
| "open-toolbox-with-screwdriver": 73.081, |
| "pour-screws-into-funnel": 95.609, |
| "route-cable-through-closed-hoops": 76.211, |
| "sort-screws-into-bins": 70.045, |
| "all": 77.335 |
| }, |
| "ours_ci": { |
| "connect-dc-jack": [ |
| 83.47, |
| 79.07, |
| 88.46 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 96.32, |
| 94.39, |
| 97.76 |
| ], |
| "pour-screws-into-funnel": [ |
| 97.59, |
| 95.44, |
| 99.44 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 87.88, |
| 84.84, |
| 90.87 |
| ], |
| "sort-screws-into-bins": [ |
| 87.5, |
| 83.16, |
| 90.51 |
| ], |
| "all": [ |
| 90.55, |
| 89.06, |
| 91.9 |
| ] |
| }, |
| "terra_ci": { |
| "connect-dc-jack": [ |
| 71.73, |
| 66.54, |
| 77.06 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 73.08, |
| 70.31, |
| 75.93 |
| ], |
| "pour-screws-into-funnel": [ |
| 95.61, |
| 93.35, |
| 98.02 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 76.21, |
| 73.0, |
| 79.47 |
| ], |
| "sort-screws-into-bins": [ |
| 70.04, |
| 64.6, |
| 75.19 |
| ], |
| "all": [ |
| 77.33, |
| 75.6, |
| 79.15 |
| ] |
| }, |
| "delta": { |
| "connect-dc-jack": [ |
| -11.74, |
| -17.4, |
| -6.33 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| -23.24, |
| -26.07, |
| -20.22 |
| ], |
| "pour-screws-into-funnel": [ |
| -1.98, |
| -4.91, |
| 1.03 |
| ], |
| "route-cable-through-closed-hoops": [ |
| -11.67, |
| -14.85, |
| -7.95 |
| ], |
| "sort-screws-into-bins": [ |
| -17.46, |
| -22.04, |
| -13.19 |
| ], |
| "all": [ |
| -13.22, |
| -15.13, |
| -11.49 |
| ] |
| } |
| }, |
| "1.0": { |
| "n": 899, |
| "ours": { |
| "connect-dc-jack": 79.547, |
| "open-toolbox-with-screwdriver": 93.2, |
| "pour-screws-into-funnel": 95.044, |
| "route-cable-through-closed-hoops": 86.861, |
| "sort-screws-into-bins": 84.539, |
| "all": 87.838 |
| }, |
| "terra": { |
| "connect-dc-jack": 57.293, |
| "open-toolbox-with-screwdriver": 63.181, |
| "pour-screws-into-funnel": 94.856, |
| "route-cable-through-closed-hoops": 72.162, |
| "sort-screws-into-bins": 65.673, |
| "all": 70.633 |
| }, |
| "ours_ci": { |
| "connect-dc-jack": [ |
| 79.55, |
| 74.85, |
| 84.98 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 93.2, |
| 91.02, |
| 95.48 |
| ], |
| "pour-screws-into-funnel": [ |
| 95.04, |
| 92.0, |
| 97.8 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 86.86, |
| 83.49, |
| 89.75 |
| ], |
| "sort-screws-into-bins": [ |
| 84.54, |
| 80.07, |
| 88.13 |
| ], |
| "all": [ |
| 87.84, |
| 86.17, |
| 89.45 |
| ] |
| }, |
| "terra_ci": { |
| "connect-dc-jack": [ |
| 57.29, |
| 51.61, |
| 63.15 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 63.18, |
| 59.92, |
| 66.45 |
| ], |
| "pour-screws-into-funnel": [ |
| 94.86, |
| 92.38, |
| 97.51 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 72.16, |
| 69.1, |
| 75.66 |
| ], |
| "sort-screws-into-bins": [ |
| 65.67, |
| 59.89, |
| 71.3 |
| ], |
| "all": [ |
| 70.63, |
| 68.78, |
| 72.48 |
| ] |
| }, |
| "delta": { |
| "connect-dc-jack": [ |
| -22.25, |
| -27.96, |
| -16.39 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| -30.02, |
| -33.16, |
| -27.14 |
| ], |
| "pour-screws-into-funnel": [ |
| -0.19, |
| -3.74, |
| 3.37 |
| ], |
| "route-cable-through-closed-hoops": [ |
| -14.7, |
| -18.39, |
| -11.07 |
| ], |
| "sort-screws-into-bins": [ |
| -18.87, |
| -24.12, |
| -14.04 |
| ], |
| "all": [ |
| -17.21, |
| -19.14, |
| -15.21 |
| ] |
| } |
| }, |
| "2.0": { |
| "n": 899, |
| "ours": { |
| "connect-dc-jack": 87.094, |
| "open-toolbox-with-screwdriver": 96.544, |
| "pour-screws-into-funnel": 97.84, |
| "route-cable-through-closed-hoops": 88.759, |
| "sort-screws-into-bins": 88.048, |
| "all": 91.657 |
| }, |
| "terra": { |
| "connect-dc-jack": 78.947, |
| "open-toolbox-with-screwdriver": 78.087, |
| "pour-screws-into-funnel": 95.609, |
| "route-cable-through-closed-hoops": 77.368, |
| "sort-screws-into-bins": 71.932, |
| "all": 80.389 |
| }, |
| "ours_ci": { |
| "connect-dc-jack": [ |
| 87.09, |
| 83.23, |
| 91.1 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 96.54, |
| 94.8, |
| 98.06 |
| ], |
| "pour-screws-into-funnel": [ |
| 97.84, |
| 95.95, |
| 99.51 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 88.76, |
| 85.7, |
| 91.95 |
| ], |
| "sort-screws-into-bins": [ |
| 88.05, |
| 83.91, |
| 91.15 |
| ], |
| "all": [ |
| 91.66, |
| 90.21, |
| 92.91 |
| ] |
| }, |
| "terra_ci": { |
| "connect-dc-jack": [ |
| 78.95, |
| 73.71, |
| 83.89 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 78.09, |
| 75.04, |
| 81.19 |
| ], |
| "pour-screws-into-funnel": [ |
| 95.61, |
| 93.35, |
| 98.02 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 77.37, |
| 74.27, |
| 80.72 |
| ], |
| "sort-screws-into-bins": [ |
| 71.93, |
| 66.62, |
| 76.74 |
| ], |
| "all": [ |
| 80.39, |
| 78.46, |
| 82.15 |
| ] |
| }, |
| "delta": { |
| "connect-dc-jack": [ |
| -8.15, |
| -14.41, |
| -2.58 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| -18.46, |
| -21.79, |
| -15.11 |
| ], |
| "pour-screws-into-funnel": [ |
| -2.23, |
| -4.99, |
| 0.52 |
| ], |
| "route-cable-through-closed-hoops": [ |
| -11.39, |
| -14.59, |
| -7.65 |
| ], |
| "sort-screws-into-bins": [ |
| -16.12, |
| -20.35, |
| -12.24 |
| ], |
| "all": [ |
| -11.27, |
| -13.12, |
| -9.46 |
| ] |
| } |
| }, |
| "0.5": { |
| "n": 899, |
| "ours": { |
| "connect-dc-jack": 61.434, |
| "open-toolbox-with-screwdriver": 81.828, |
| "pour-screws-into-funnel": 92.249, |
| "route-cable-through-closed-hoops": 74.161, |
| "sort-screws-into-bins": 73.246, |
| "all": 76.584 |
| }, |
| "terra": { |
| "connect-dc-jack": 33.835, |
| "open-toolbox-with-screwdriver": 52.725, |
| "pour-screws-into-funnel": 73.526, |
| "route-cable-through-closed-hoops": 57.122, |
| "sort-screws-into-bins": 46.895, |
| "all": 52.821 |
| }, |
| "ours_ci": { |
| "connect-dc-jack": [ |
| 61.43, |
| 55.95, |
| 67.0 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 81.83, |
| 78.33, |
| 85.75 |
| ], |
| "pour-screws-into-funnel": [ |
| 92.25, |
| 88.44, |
| 96.22 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 74.16, |
| 69.49, |
| 78.63 |
| ], |
| "sort-screws-into-bins": [ |
| 73.25, |
| 67.69, |
| 78.03 |
| ], |
| "all": [ |
| 76.58, |
| 74.66, |
| 78.67 |
| ] |
| }, |
| "terra_ci": { |
| "connect-dc-jack": [ |
| 33.83, |
| 29.27, |
| 38.88 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 52.73, |
| 49.69, |
| 56.31 |
| ], |
| "pour-screws-into-funnel": [ |
| 73.53, |
| 67.85, |
| 79.13 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 57.12, |
| 53.31, |
| 61.0 |
| ], |
| "sort-screws-into-bins": [ |
| 46.9, |
| 41.11, |
| 53.04 |
| ], |
| "all": [ |
| 52.82, |
| 50.86, |
| 54.97 |
| ] |
| }, |
| "delta": { |
| "connect-dc-jack": [ |
| -27.6, |
| -33.85, |
| -21.26 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| -29.1, |
| -33.41, |
| -24.84 |
| ], |
| "pour-screws-into-funnel": [ |
| -18.72, |
| -25.2, |
| -13.54 |
| ], |
| "route-cable-through-closed-hoops": [ |
| -17.04, |
| -21.96, |
| -12.02 |
| ], |
| "sort-screws-into-bins": [ |
| -26.35, |
| -31.14, |
| -20.18 |
| ], |
| "all": [ |
| -23.76, |
| -26.41, |
| -21.46 |
| ] |
| } |
| }, |
| "2.5": { |
| "n": 899, |
| "ours": { |
| "connect-dc-jack": 90.415, |
| "open-toolbox-with-screwdriver": 96.656, |
| "pour-screws-into-funnel": 97.84, |
| "route-cable-through-closed-hoops": 89.489, |
| "sort-screws-into-bins": 89.035, |
| "all": 92.687 |
| }, |
| "terra": { |
| "connect-dc-jack": 87.97, |
| "open-toolbox-with-screwdriver": 82.87, |
| "pour-screws-into-funnel": 96.11, |
| "route-cable-through-closed-hoops": 79.826, |
| "sort-screws-into-bins": 73.025, |
| "all": 83.96 |
| }, |
| "ours_ci": { |
| "connect-dc-jack": [ |
| 90.42, |
| 87.36, |
| 93.02 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 96.66, |
| 94.93, |
| 98.11 |
| ], |
| "pour-screws-into-funnel": [ |
| 97.84, |
| 95.95, |
| 99.51 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 89.49, |
| 86.54, |
| 92.38 |
| ], |
| "sort-screws-into-bins": [ |
| 89.04, |
| 85.14, |
| 92.07 |
| ], |
| "all": [ |
| 92.69, |
| 91.3, |
| 93.82 |
| ] |
| }, |
| "terra_ci": { |
| "connect-dc-jack": [ |
| 87.97, |
| 85.02, |
| 91.16 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 82.87, |
| 79.91, |
| 85.88 |
| ], |
| "pour-screws-into-funnel": [ |
| 96.11, |
| 93.86, |
| 98.37 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 79.83, |
| 76.5, |
| 83.0 |
| ], |
| "sort-screws-into-bins": [ |
| 73.03, |
| 67.73, |
| 77.95 |
| ], |
| "all": [ |
| 83.96, |
| 82.38, |
| 85.55 |
| ] |
| }, |
| "delta": { |
| "connect-dc-jack": [ |
| -2.45, |
| -5.97, |
| 0.66 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| -13.79, |
| -16.77, |
| -10.93 |
| ], |
| "pour-screws-into-funnel": [ |
| -1.73, |
| -4.42, |
| 0.94 |
| ], |
| "route-cable-through-closed-hoops": [ |
| -9.66, |
| -12.88, |
| -6.46 |
| ], |
| "sort-screws-into-bins": [ |
| -16.01, |
| -20.05, |
| -11.8 |
| ], |
| "all": [ |
| -8.73, |
| -10.36, |
| -7.27 |
| ] |
| } |
| }, |
| "3.0": { |
| "n": 899, |
| "ours": { |
| "connect-dc-jack": 92.377, |
| "open-toolbox-with-screwdriver": 97.101, |
| "pour-screws-into-funnel": 98.094, |
| "route-cable-through-closed-hoops": 89.927, |
| "sort-screws-into-bins": 89.583, |
| "all": 93.417 |
| }, |
| "terra": { |
| "connect-dc-jack": 91.88, |
| "open-toolbox-with-screwdriver": 86.318, |
| "pour-screws-into-funnel": 96.612, |
| "route-cable-through-closed-hoops": 80.694, |
| "sort-screws-into-bins": 73.92, |
| "all": 85.885 |
| }, |
| "ours_ci": { |
| "connect-dc-jack": [ |
| 92.38, |
| 89.49, |
| 94.96 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 97.1, |
| 95.66, |
| 98.27 |
| ], |
| "pour-screws-into-funnel": [ |
| 98.09, |
| 96.16, |
| 99.62 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 89.93, |
| 87.08, |
| 92.81 |
| ], |
| "sort-screws-into-bins": [ |
| 89.58, |
| 85.59, |
| 92.46 |
| ], |
| "all": [ |
| 93.42, |
| 92.2, |
| 94.47 |
| ] |
| }, |
| "terra_ci": { |
| "connect-dc-jack": [ |
| 91.88, |
| 89.1, |
| 94.59 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 86.32, |
| 83.54, |
| 89.02 |
| ], |
| "pour-screws-into-funnel": [ |
| 96.61, |
| 94.41, |
| 98.64 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 80.69, |
| 77.02, |
| 84.05 |
| ], |
| "sort-screws-into-bins": [ |
| 73.92, |
| 68.82, |
| 78.63 |
| ], |
| "all": [ |
| 85.88, |
| 84.42, |
| 87.26 |
| ] |
| }, |
| "delta": { |
| "connect-dc-jack": [ |
| -0.5, |
| -2.45, |
| 1.48 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| -10.78, |
| -13.53, |
| -8.36 |
| ], |
| "pour-screws-into-funnel": [ |
| -1.48, |
| -4.3, |
| 1.3 |
| ], |
| "route-cable-through-closed-hoops": [ |
| -9.23, |
| -12.31, |
| -6.0 |
| ], |
| "sort-screws-into-bins": [ |
| -15.66, |
| -19.49, |
| -11.93 |
| ], |
| "all": [ |
| -7.53, |
| -8.76, |
| -6.27 |
| ] |
| } |
| } |
| }, |
| "case2": { |
| "1.5": { |
| "n": 899, |
| "ours": { |
| "connect-dc-jack": 77.685, |
| "open-toolbox-with-screwdriver": 94.972, |
| "pour-screws-into-funnel": 94.911, |
| "route-cable-through-closed-hoops": 83.236, |
| "sort-screws-into-bins": 78.982, |
| "all": 85.957 |
| }, |
| "terra": { |
| "connect-dc-jack": 71.729, |
| "open-toolbox-with-screwdriver": 73.081, |
| "pour-screws-into-funnel": 95.609, |
| "route-cable-through-closed-hoops": 76.211, |
| "sort-screws-into-bins": 70.045, |
| "all": 77.335 |
| }, |
| "ours_ci": { |
| "connect-dc-jack": [ |
| 77.68, |
| 72.1, |
| 82.81 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 94.97, |
| 92.99, |
| 96.86 |
| ], |
| "pour-screws-into-funnel": [ |
| 94.91, |
| 92.12, |
| 97.29 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 83.24, |
| 79.43, |
| 86.77 |
| ], |
| "sort-screws-into-bins": [ |
| 78.98, |
| 73.64, |
| 83.87 |
| ], |
| "all": [ |
| 85.96, |
| 84.25, |
| 87.71 |
| ] |
| }, |
| "terra_ci": { |
| "connect-dc-jack": [ |
| 71.73, |
| 66.54, |
| 77.06 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 73.08, |
| 70.31, |
| 75.93 |
| ], |
| "pour-screws-into-funnel": [ |
| 95.61, |
| 93.35, |
| 98.02 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 76.21, |
| 73.0, |
| 79.47 |
| ], |
| "sort-screws-into-bins": [ |
| 70.04, |
| 64.6, |
| 75.19 |
| ], |
| "all": [ |
| 77.33, |
| 75.6, |
| 79.15 |
| ] |
| } |
| }, |
| "1.0": { |
| "n": 899, |
| "ours": { |
| "connect-dc-jack": 70.069, |
| "open-toolbox-with-screwdriver": 89.05, |
| "pour-screws-into-funnel": 91.349, |
| "route-cable-through-closed-hoops": 81.05, |
| "sort-screws-into-bins": 75.406, |
| "all": 81.385 |
| }, |
| "terra": { |
| "connect-dc-jack": 57.293, |
| "open-toolbox-with-screwdriver": 63.181, |
| "pour-screws-into-funnel": 94.856, |
| "route-cable-through-closed-hoops": 72.162, |
| "sort-screws-into-bins": 65.673, |
| "all": 70.633 |
| }, |
| "ours_ci": { |
| "connect-dc-jack": [ |
| 70.07, |
| 64.03, |
| 75.25 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 89.05, |
| 86.63, |
| 91.61 |
| ], |
| "pour-screws-into-funnel": [ |
| 91.35, |
| 87.15, |
| 95.05 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 81.05, |
| 76.98, |
| 84.95 |
| ], |
| "sort-screws-into-bins": [ |
| 75.41, |
| 69.85, |
| 80.78 |
| ], |
| "all": [ |
| 81.38, |
| 79.29, |
| 83.22 |
| ] |
| }, |
| "terra_ci": { |
| "connect-dc-jack": [ |
| 57.29, |
| 51.61, |
| 63.15 |
| ], |
| "open-toolbox-with-screwdriver": [ |
| 63.18, |
| 59.92, |
| 66.45 |
| ], |
| "pour-screws-into-funnel": [ |
| 94.86, |
| 92.38, |
| 97.51 |
| ], |
| "route-cable-through-closed-hoops": [ |
| 72.16, |
| 69.1, |
| 75.66 |
| ], |
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