{
  "version": "0.3.0",
  "suite": "libero_rp",
  "task_order_index": 0,
  "task_ids": [
    0,
    1,
    2,
    3,
    4,
    5,
    6,
    7,
    8,
    9,
    10,
    11,
    12,
    13,
    14,
    15,
    16,
    17,
    18,
    19,
    20,
    21,
    22,
    23,
    24,
    25,
    26,
    27,
    28,
    29,
    30,
    31,
    32,
    33,
    34,
    35
  ],
  "initial_state_indices": [
    0
  ],
  "control_frequency_hz": 20,
  "max_episode_steps": 4000,
  "robots": [
    "Panda"
  ],
  "controller": "OSC_POSE",
  "action_dimension": 7,
  "action_range": [
    -1,
    1
  ],
  "camera_names": [
    "agentview",
    "robot0_eye_in_hand"
  ],
  "camera_resolution": [
    256,
    256
  ],
  "policy_inputs": [
    "task language",
    "agentview RGB",
    "wrist RGB",
    "robot proprioception"
  ],
  "excluded_policy_inputs": [
    "scene geometry truth",
    "object poses",
    "expert controller internals",
    "success-predicate internal state"
  ],
  "success": "env.check_success(), including stable placement and sticky process/safety rules",
  "report": [
    "per-instance success",
    "per-task-type success",
    "overall instance mean"
  ],
  "reference_max_steps": 3519,
  "note": "Fixed-instance initial benchmark; no empirically calibrated difficulty labels. Expert actions can include conservative holds and are not time-optimal.",
  "ignore_done": true,
  "episode_termination": "External evaluation loop: stop on env.check_success() or max_episode_steps."
}