{
  "precision": 0.9406,
  "recall": 0.9965,
  "f1": 0.9677,
  "segment": {
    "1": {
      "hit": 1.0,
      "acc": 1.0
    },
    "2": {
      "hit": 0.9821,
      "acc": 0.9464
    },
    "3": {
      "hit": 1.0,
      "acc": 0.9032
    },
    "4": {
      "hit": 1.0,
      "acc": 0.9583
    },
    "5": {
      "hit": 1.0,
      "acc": 1.0
    },
    "6": {
      "hit": 1.0,
      "acc": 1.0
    },
    "7": {
      "hit": 1.0,
      "acc": 0.9
    },
    "8": {
      "hit": 1.0,
      "acc": 1.0
    },
    "9": {
      "hit": 1.0,
      "acc": 1.0
    },
    "10": {
      "hit": 1.0,
      "acc": 1.0
    },
    "11": {
      "hit": 1.0,
      "acc": 1.0
    },
    "12": {
      "hit": 1.0,
      "acc": 1.0
    },
    "overall": {
      "hit": 0.9965,
      "acc": 0.972
    }
  },
  "segment_acc": 0.972,
  "non_key_acc": 0.8889,
  "overall_score": 0.9305,
  "exact_rate": 0.972,
  "segment_positive": 0.9965,
  "non_key_frame_acc": 0.9993,
  "n_episodes": 90,
  "n_windows": 286,
  "n_segments": 286,
  "n_nonkey_episodes": 90,
  "missed": 1,
  "excess_windows": 7,
  "spurious_total": 11,
  "spurious_per_ep": 0.122,
  "total_yes_pred": 303,
  "perfect_episodes": 74,
  "key_interval_hit_rates": [
    1.0,
    0.9821,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0
  ],
  "key_interval_acc_rates": [
    1.0,
    0.9464,
    0.9032,
    0.9583,
    1.0,
    1.0,
    0.9,
    1.0,
    1.0,
    1.0,
    1.0,
    1.0
  ],
  "key_interval_hit_counts": [
    90,
    55,
    31,
    24,
    22,
    21,
    10,
    10,
    10,
    7,
    3,
    2
  ],
  "key_interval_acc_counts": [
    90,
    53,
    28,
    23,
    22,
    21,
    9,
    10,
    10,
    7,
    3,
    2
  ],
  "key_interval_episode_counts": [
    90,
    56,
    31,
    24,
    22,
    21,
    10,
    10,
    10,
    7,
    3,
    2
  ],
  "trajectory_count": 90,
  "overall": {
    "precision": 0.9406,
    "recall": 0.9965,
    "f1": 0.9677,
    "segment": {
      "1": {
        "hit": 1.0,
        "acc": 1.0
      },
      "2": {
        "hit": 0.9821,
        "acc": 0.9464
      },
      "3": {
        "hit": 1.0,
        "acc": 0.9032
      },
      "4": {
        "hit": 1.0,
        "acc": 0.9583
      },
      "5": {
        "hit": 1.0,
        "acc": 1.0
      },
      "6": {
        "hit": 1.0,
        "acc": 1.0
      },
      "7": {
        "hit": 1.0,
        "acc": 0.9
      },
      "8": {
        "hit": 1.0,
        "acc": 1.0
      },
      "9": {
        "hit": 1.0,
        "acc": 1.0
      },
      "10": {
        "hit": 1.0,
        "acc": 1.0
      },
      "11": {
        "hit": 1.0,
        "acc": 1.0
      },
      "12": {
        "hit": 1.0,
        "acc": 1.0
      },
      "overall": {
        "hit": 0.9965,
        "acc": 0.972
      }
    },
    "segment_acc": 0.972,
    "non_key_acc": 0.8889,
    "overall_score": 0.9305,
    "exact_rate": 0.972,
    "segment_positive": 0.9965,
    "non_key_frame_acc": 0.9993,
    "n_episodes": 90,
    "n_windows": 286,
    "n_segments": 286,
    "n_nonkey_episodes": 90,
    "missed": 1,
    "excess_windows": 7,
    "spurious_total": 11,
    "spurious_per_ep": 0.122,
    "total_yes_pred": 303,
    "perfect_episodes": 74,
    "key_interval_hit_rates": [
      1.0,
      0.9821,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
    ],
    "key_interval_acc_rates": [
      1.0,
      0.9464,
      0.9032,
      0.9583,
      1.0,
      1.0,
      0.9,
      1.0,
      1.0,
      1.0,
      1.0,
      1.0
    ],
    "key_interval_hit_counts": [
      90,
      55,
      31,
      24,
      22,
      21,
      10,
      10,
      10,
      7,
      3,
      2
    ],
    "key_interval_acc_counts": [
      90,
      53,
      28,
      23,
      22,
      21,
      9,
      10,
      10,
      7,
      3,
      2
    ],
    "key_interval_episode_counts": [
      90,
      56,
      31,
      24,
      22,
      21,
      10,
      10,
      10,
      7,
      3,
      2
    ],
    "trajectory_count": 90
  },
  "by_task": {
    "battery_try": {
      "precision": 0.9524,
      "recall": 1.0,
      "f1": 0.9756,
      "segment": {
        "1": {
          "hit": 1.0,
          "acc": 1.0
        },
        "2": {
          "hit": 1.0,
          "acc": 1.0
        },
        "3": {
          "hit": 1.0,
          "acc": 1.0
        },
        "overall": {
          "hit": 1.0,
          "acc": 1.0
        }
      },
      "segment_acc": 1.0,
      "non_key_acc": 0.9,
      "overall_score": 0.95,
      "exact_rate": 1.0,
      "segment_positive": 1.0,
      "non_key_frame_acc": 0.9995,
      "n_episodes": 10,
      "n_windows": 20,
      "n_segments": 20,
      "n_nonkey_episodes": 10,
      "missed": 0,
      "excess_windows": 0,
      "spurious_total": 1,
      "spurious_per_ep": 0.1,
      "total_yes_pred": 21,
      "perfect_episodes": 9,
      "key_interval_hit_rates": [
        1.0,
        1.0,
        1.0
      ],
      "key_interval_acc_rates": [
        1.0,
        1.0,
        1.0
      ],
      "key_interval_hit_counts": [
        10,
        6,
        4
      ],
      "key_interval_acc_counts": [
        10,
        6,
        4
      ],
      "key_interval_episode_counts": [
        10,
        6,
        4
      ],
      "trajectory_count": 10
    },
    "blocks_ranking_try": {
      "precision": 1.0,
      "recall": 1.0,
      "f1": 1.0,
      "segment": {
        "1": {
          "hit": 1.0,
          "acc": 1.0
        },
        "2": {
          "hit": 1.0,
          "acc": 1.0
        },
        "3": {
          "hit": 1.0,
          "acc": 1.0
        },
        "4": {
          "hit": 1.0,
          "acc": 1.0
        },
        "5": {
          "hit": 1.0,
          "acc": 1.0
        },
        "6": {
          "hit": 1.0,
          "acc": 1.0
        },
        "overall": {
          "hit": 1.0,
          "acc": 1.0
        }
      },
      "segment_acc": 1.0,
      "non_key_acc": 1.0,
      "overall_score": 1.0,
      "exact_rate": 1.0,
      "segment_positive": 1.0,
      "non_key_frame_acc": 1.0,
      "n_episodes": 10,
      "n_windows": 34,
      "n_segments": 34,
      "n_nonkey_episodes": 10,
      "missed": 0,
      "excess_windows": 0,
      "spurious_total": 0,
      "spurious_per_ep": 0.0,
      "total_yes_pred": 34,
      "perfect_episodes": 10,
      "key_interval_hit_rates": [
        1.0,
        1.0,
        1.0,
        1.0,
        1.0,
        1.0
      ],
      "key_interval_acc_rates": [
        1.0,
        1.0,
        1.0,
        1.0,
        1.0,
        1.0
      ],
      "key_interval_hit_counts": [
        10,
        10,
        7,
        4,
        2,
        1
      ],
      "key_interval_acc_counts": [
        10,
        10,
        7,
        4,
        2,
        1
      ],
      "key_interval_episode_counts": [
        10,
        10,
        7,
        4,
        2,
        1
      ],
      "trajectory_count": 10
    },
    "cover_blocks": {
      "precision": 0.8824,
      "recall": 1.0,
      "f1": 0.9375,
      "segment": {
        "1": {
          "hit": 1.0,
          "acc": 1.0
        },
        "2": {
          "hit": 1.0,
          "acc": 1.0
        },
        "3": {
          "hit": 1.0,
          "acc": 0.7
        },
        "4": {
          "hit": 1.0,
          "acc": 0.9
        },
        "5": {
          "hit": 1.0,
          "acc": 1.0
        },
        "6": {
          "hit": 1.0,
          "acc": 1.0
        },
        "overall": {
          "hit": 1.0,
          "acc": 0.9333
        }
      },
      "segment_acc": 0.9333,
      "non_key_acc": 0.7,
      "overall_score": 0.8167,
      "exact_rate": 0.9333,
      "segment_positive": 1.0,
      "non_key_frame_acc": 0.9987,
      "n_episodes": 10,
      "n_windows": 60,
      "n_segments": 60,
      "n_nonkey_episodes": 10,
      "missed": 0,
      "excess_windows": 4,
      "spurious_total": 4,
      "spurious_per_ep": 0.4,
      "total_yes_pred": 68,
      "perfect_episodes": 4,
      "key_interval_hit_rates": [
        1.0,
        1.0,
        1.0,
        1.0,
        1.0,
        1.0
      ],
      "key_interval_acc_rates": [
        1.0,
        1.0,
        0.7,
        0.9,
        1.0,
        1.0
      ],
      "key_interval_hit_counts": [
        10,
        10,
        10,
        10,
        10,
        10
      ],
      "key_interval_acc_counts": [
        10,
        10,
        7,
        9,
        10,
        10
      ],
      "key_interval_episode_counts": [
        10,
        10,
        10,
        10,
        10,
        10
      ],
      "trajectory_count": 10
    },
    "observe_and_pickup": {
      "precision": 1.0,
      "recall": 1.0,
      "f1": 1.0,
      "segment": {
        "1": {
          "hit": 1.0,
          "acc": 1.0
        },
        "overall": {
          "hit": 1.0,
          "acc": 1.0
        }
      },
      "segment_acc": 1.0,
      "non_key_acc": 1.0,
      "overall_score": 1.0,
      "exact_rate": 1.0,
      "segment_positive": 1.0,
      "non_key_frame_acc": 1.0,
      "n_episodes": 10,
      "n_windows": 10,
      "n_segments": 10,
      "n_nonkey_episodes": 10,
      "missed": 0,
      "excess_windows": 0,
      "spurious_total": 0,
      "spurious_per_ep": 0.0,
      "total_yes_pred": 10,
      "perfect_episodes": 10,
      "key_interval_hit_rates": [
        1.0
      ],
      "key_interval_acc_rates": [
        1.0
      ],
      "key_interval_hit_counts": [
        10
      ],
      "key_interval_acc_counts": [
        10
      ],
      "key_interval_episode_counts": [
        10
      ],
      "trajectory_count": 10
    },
    "press_button": {
      "precision": 0.9903,
      "recall": 1.0,
      "f1": 0.9951,
      "segment": {
        "1": {
          "hit": 1.0,
          "acc": 1.0
        },
        "2": {
          "hit": 1.0,
          "acc": 1.0
        },
        "3": {
          "hit": 1.0,
          "acc": 1.0
        },
        "4": {
          "hit": 1.0,
          "acc": 1.0
        },
        "5": {
          "hit": 1.0,
          "acc": 1.0
        },
        "6": {
          "hit": 1.0,
          "acc": 1.0
        },
        "7": {
          "hit": 1.0,
          "acc": 0.9
        },
        "8": {
          "hit": 1.0,
          "acc": 1.0
        },
        "9": {
          "hit": 1.0,
          "acc": 1.0
        },
        "10": {
          "hit": 1.0,
          "acc": 1.0
        },
        "11": {
          "hit": 1.0,
          "acc": 1.0
        },
        "12": {
          "hit": 1.0,
          "acc": 1.0
        },
        "overall": {
          "hit": 1.0,
          "acc": 0.9902
        }
      },
      "segment_acc": 0.9902,
      "non_key_acc": 1.0,
      "overall_score": 0.9951,
      "exact_rate": 0.9902,
      "segment_positive": 1.0,
      "non_key_frame_acc": 1.0,
      "n_episodes": 10,
      "n_windows": 102,
      "n_segments": 102,
      "n_nonkey_episodes": 10,
      "missed": 0,
      "excess_windows": 1,
      "spurious_total": 0,
      "spurious_per_ep": 0.0,
      "total_yes_pred": 103,
      "perfect_episodes": 9,
      "key_interval_hit_rates": [
        1.0,
        1.0,
        1.0,
        1.0,
        1.0,
        1.0,
        1.0,
        1.0,
        1.0,
        1.0,
        1.0,
        1.0
      ],
      "key_interval_acc_rates": [
        1.0,
        1.0,
        1.0,
        1.0,
        1.0,
        1.0,
        0.9,
        1.0,
        1.0,
        1.0,
        1.0,
        1.0
      ],
      "key_interval_hit_counts": [
        10,
        10,
        10,
        10,
        10,
        10,
        10,
        10,
        10,
        7,
        3,
        2
      ],
      "key_interval_acc_counts": [
        10,
        10,
        10,
        10,
        10,
        10,
        9,
        10,
        10,
        7,
        3,
        2
      ],
      "key_interval_episode_counts": [
        10,
        10,
        10,
        10,
        10,
        10,
        10,
        10,
        10,
        7,
        3,
        2
      ],
      "trajectory_count": 10
    },
    "put_back_block": {
      "precision": 0.9091,
      "recall": 1.0,
      "f1": 0.9524,
      "segment": {
        "1": {
          "hit": 1.0,
          "acc": 1.0
        },
        "2": {
          "hit": 1.0,
          "acc": 1.0
        },
        "overall": {
          "hit": 1.0,
          "acc": 1.0
        }
      },
      "segment_acc": 1.0,
      "non_key_acc": 0.8,
      "overall_score": 0.9,
      "exact_rate": 1.0,
      "segment_positive": 1.0,
      "non_key_frame_acc": 0.9979,
      "n_episodes": 10,
      "n_windows": 20,
      "n_segments": 20,
      "n_nonkey_episodes": 10,
      "missed": 0,
      "excess_windows": 0,
      "spurious_total": 2,
      "spurious_per_ep": 0.2,
      "total_yes_pred": 22,
      "perfect_episodes": 8,
      "key_interval_hit_rates": [
        1.0,
        1.0
      ],
      "key_interval_acc_rates": [
        1.0,
        1.0
      ],
      "key_interval_hit_counts": [
        10,
        10
      ],
      "key_interval_acc_counts": [
        10,
        10
      ],
      "key_interval_episode_counts": [
        10,
        10
      ],
      "trajectory_count": 10
    },
    "rearrange_blocks": {
      "precision": 0.76,
      "recall": 0.95,
      "f1": 0.8444,
      "segment": {
        "1": {
          "hit": 1.0,
          "acc": 1.0
        },
        "2": {
          "hit": 0.9,
          "acc": 0.7
        },
        "overall": {
          "hit": 0.95,
          "acc": 0.85
        }
      },
      "segment_acc": 0.85,
      "non_key_acc": 0.6,
      "overall_score": 0.725,
      "exact_rate": 0.85,
      "segment_positive": 0.95,
      "non_key_frame_acc": 0.9966,
      "n_episodes": 10,
      "n_windows": 20,
      "n_segments": 20,
      "n_nonkey_episodes": 10,
      "missed": 1,
      "excess_windows": 2,
      "spurious_total": 4,
      "spurious_per_ep": 0.4,
      "total_yes_pred": 25,
      "perfect_episodes": 4,
      "key_interval_hit_rates": [
        1.0,
        0.9
      ],
      "key_interval_acc_rates": [
        1.0,
        0.7
      ],
      "key_interval_hit_counts": [
        10,
        9
      ],
      "key_interval_acc_counts": [
        10,
        7
      ],
      "key_interval_episode_counts": [
        10,
        10
      ],
      "trajectory_count": 10
    },
    "swap_T": {
      "precision": 1.0,
      "recall": 1.0,
      "f1": 1.0,
      "segment": {
        "1": {
          "hit": 1.0,
          "acc": 1.0
        },
        "overall": {
          "hit": 1.0,
          "acc": 1.0
        }
      },
      "segment_acc": 1.0,
      "non_key_acc": 1.0,
      "overall_score": 1.0,
      "exact_rate": 1.0,
      "segment_positive": 1.0,
      "non_key_frame_acc": 1.0,
      "n_episodes": 10,
      "n_windows": 10,
      "n_segments": 10,
      "n_nonkey_episodes": 10,
      "missed": 0,
      "excess_windows": 0,
      "spurious_total": 0,
      "spurious_per_ep": 0.0,
      "total_yes_pred": 10,
      "perfect_episodes": 10,
      "key_interval_hit_rates": [
        1.0
      ],
      "key_interval_acc_rates": [
        1.0
      ],
      "key_interval_hit_counts": [
        10
      ],
      "key_interval_acc_counts": [
        10
      ],
      "key_interval_episode_counts": [
        10
      ],
      "trajectory_count": 10
    },
    "swap_blocks": {
      "precision": 1.0,
      "recall": 1.0,
      "f1": 1.0,
      "segment": {
        "1": {
          "hit": 1.0,
          "acc": 1.0
        },
        "overall": {
          "hit": 1.0,
          "acc": 1.0
        }
      },
      "segment_acc": 1.0,
      "non_key_acc": 1.0,
      "overall_score": 1.0,
      "exact_rate": 1.0,
      "segment_positive": 1.0,
      "non_key_frame_acc": 1.0,
      "n_episodes": 10,
      "n_windows": 10,
      "n_segments": 10,
      "n_nonkey_episodes": 10,
      "missed": 0,
      "excess_windows": 0,
      "spurious_total": 0,
      "spurious_per_ep": 0.0,
      "total_yes_pred": 10,
      "perfect_episodes": 10,
      "key_interval_hit_rates": [
        1.0
      ],
      "key_interval_acc_rates": [
        1.0
      ],
      "key_interval_hit_counts": [
        10
      ],
      "key_interval_acc_counts": [
        10
      ],
      "key_interval_episode_counts": [
        10
      ],
      "trajectory_count": 10
    }
  },
  "trajectory_counts": {
    "overall": 90,
    "by_task": {
      "battery_try": 10,
      "blocks_ranking_try": 10,
      "cover_blocks": 10,
      "observe_and_pickup": 10,
      "press_button": 10,
      "put_back_block": 10,
      "rearrange_blocks": 10,
      "swap_T": 10,
      "swap_blocks": 10
    }
  },
  "step": 18000,
  "threshold": 0.5,
  "split": "val",
  "split_ratio": 0.2,
  "train_split_ratio": 0.8,
  "validation_split_ratio": 0.2,
  "protocol": "autoregressive"
}