{
 "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
     ],
     "sort-screws-into-bins": [
      65.67,
      59.89,
      71.3
     ],
     "all": [
      70.63,
      68.78,
      72.48
     ]
    }
   },
   "2.0": {
    "n": 899,
    "ours": {
     "connect-dc-jack": 80.883,
     "open-toolbox-with-screwdriver": 95.531,
     "pour-screws-into-funnel": 94.911,
     "route-cable-through-closed-hoops": 84.257,
     "sort-screws-into-bins": 80.823,
     "all": 87.281
    },
    "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": [
      80.88,
      75.38,
      85.86
     ],
     "open-toolbox-with-screwdriver": [
      95.53,
      93.65,
      97.28
     ],
     "pour-screws-into-funnel": [
      94.91,
      92.12,
      97.29
     ],
     "route-cable-through-closed-hoops": [
      84.26,
      80.59,
      87.7
     ],
     "sort-screws-into-bins": [
      80.82,
      75.34,
      85.1
     ],
     "all": [
      87.28,
      85.47,
      88.98
     ]
    },
    "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
     ]
    }
   },
   "0.5": {
    "n": 899,
    "ours": {
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 }
}