{ "title": "Fixed-paper DexVerse results with separate archive crosschecks", "authority": "The active text in ExtendedAbstract/main.tex and Figure 2 (figs/heldout_pair.png). Commented-out prose is not treated as an active paper claim.", "metric": "Mean per-task held-out success percent; unaccepted tasks count as zero in the archived protocol.", "protocol": { "benchmark_tasks": 75, "categories": 6, "long_horizon_tasks": 4, "observation": "state", "expert_demonstrations_for_synthesis": 0, "heldout_start_configurations_per_task": 50, "heldout_repeats": 2, "repeats_note": "The source protocol uses the same 50 unseen configurations in both repeats, not 100 distinct configurations.", "frozen_controllers": true, "model_calls_during_execution": false }, "summary": { "imitation_comparison_15": { "tasks": 15, "agentic_percent": 95.9, "cem_percent": 96.7, "best_imitation_percent": 46.0, "source": "paper_text", "exact_mean_from_figure_task_rows": { "agentic_percent": 95.93333333333334, "cem_percent": 96.66666666666667, "best_imitation_percent": 46.0 } }, "remaining_60": { "tasks": 60, "agentic_percent": 90.7, "cem_percent": 94.0, "best_imitation_percent": null, "source": "paper_text" }, "all_75": { "tasks": 75, "paper_reported_numeric_mean": null, "approximate_mean_weighted_from_rounded_paper_subgroups": { "agentic_percent": 91.74, "cem_percent": 94.54 }, "recommended_display_if_needed": { "agentic_percent": "approximately 91.7%", "cem_percent": "approximately 94.5%" }, "note": "The active paper says more than 90% across the full benchmark. Its two subgroup means are rounded. Do not present their weighted average as an exact raw-campaign result. A0 archive independently verifies CEM at 94.52%." } }, "comparison_tasks": [ { "task": "BimanualLiftCarton", "figure_task_label": "BimanualLiftCarton", "environment_id": "Dexverse-BimanualLiftCarton-v0", "comparison_group": "Pick-and-Lift", "benchmark_category": "Bimanual", "agentic_percent": 100, "cem_percent": 100, "best_imitation_percent": 100, "imitation_policy_percent": { "pi0.5": 100, "OpenVLA": 60, "DP3": 90, "DP": 94 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave2_A0", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true } }, { "task": "BimanualLiftTray", "figure_task_label": "BimanualLiftTray", "environment_id": "Dexverse-BimanualLiftTray-v0", "comparison_group": "Pick-and-Lift", "benchmark_category": "Bimanual", "agentic_percent": 92, "cem_percent": 98, "best_imitation_percent": 84, "imitation_policy_percent": { "pi0.5": 84, "OpenVLA": 72, "DP3": 56, "DP": 60 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e1_pool10_A0", "heldout_successes_per_repeat": [ 49, 49 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": null, "campaign": null, "heldout_successes_per_repeat": null, "matches_paper_figure": null, "note": "Shown in the fixed paper figure; no corresponding L3PG chain exists in the supplied 69-task archive." } }, { "task": "GraspBleach", "figure_task_label": "GraspBleach", "environment_id": "Dexverse-GraspBleach-v0", "comparison_group": "Pick-and-Lift", "benchmark_category": "Functional", "agentic_percent": 98, "cem_percent": 100, "best_imitation_percent": 32, "imitation_policy_percent": { "pi0.5": 10, "OpenVLA": 6, "DP3": 32, "DP": 10 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave2_A0", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 50, 48 ], "matches_paper_figure": true } }, { "task": "GraspCup", "figure_task_label": "GraspCup", "environment_id": "Dexverse-GraspCup-v0", "comparison_group": "Pick-and-Lift", "benchmark_category": "Functional", "agentic_percent": 100, "cem_percent": 100, "best_imitation_percent": 50, "imitation_policy_percent": { "pi0.5": 16, "OpenVLA": 8, "DP3": 22, "DP": 50 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave2_A0", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true } }, { "task": "GraspKettle", "figure_task_label": "GraspKettle", "environment_id": "Dexverse-GraspKettle-v0", "comparison_group": "Pick-and-Lift", "benchmark_category": "Functional", "agentic_percent": 100, "cem_percent": 100, "best_imitation_percent": 90, "imitation_policy_percent": { "pi0.5": 58, "OpenVLA": 16, "DP3": 80, "DP": 90 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave2_A0", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true } }, { "task": "GraspPan", "figure_task_label": "GraspPan", "environment_id": "Dexverse-GraspPan-v0", "comparison_group": "Pick-and-Lift", "benchmark_category": "Functional", "agentic_percent": 100, "cem_percent": 100, "best_imitation_percent": 52, "imitation_policy_percent": { "pi0.5": 6, "OpenVLA": 2, "DP3": 16, "DP": 52 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave2_A0", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true } }, { "task": "RemoveCupFromRack", "figure_task_label": "RetrieveCup", "environment_id": "Dexverse-RemoveCupFromRack-v0", "comparison_group": "Pick-and-Lift", "benchmark_category": "Functional", "agentic_percent": 100, "cem_percent": 87, "best_imitation_percent": 6, "imitation_policy_percent": { "pi0.5": 2, "OpenVLA": 2, "DP3": 6, "DP": 4 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave2_A0", "heldout_successes_per_repeat": [ 46, 41 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true } }, { "task": "OpenFaucet", "figure_task_label": "OpenFaucet", "environment_id": "Dexverse-OpenFaucet-v0", "comparison_group": "Articulated", "benchmark_category": "Primitive", "agentic_percent": 100, "cem_percent": 100, "best_imitation_percent": 84, "imitation_policy_percent": { "pi0.5": 84, "OpenVLA": 36, "DP3": 76, "DP": 28 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave2_A0", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true } }, { "task": "OpenFlatFolder", "figure_task_label": "OpenFlatFolder", "environment_id": "Dexverse-OpenFlatFolder-v0", "comparison_group": "Articulated", "benchmark_category": "Articulation", "agentic_percent": 88, "cem_percent": 99, "best_imitation_percent": 18, "imitation_policy_percent": { "pi0.5": 0, "OpenVLA": 0, "DP3": 18, "DP": 16 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave1_A0", "heldout_successes_per_repeat": [ 49, 50 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 46, 42 ], "matches_paper_figure": true } }, { "task": "OpenLaptop", "figure_task_label": "OpenLaptop", "environment_id": "Dexverse-OpenLaptop-v0", "comparison_group": "Articulated", "benchmark_category": "Articulation", "agentic_percent": 100, "cem_percent": 98, "best_imitation_percent": 10, "imitation_policy_percent": { "pi0.5": 4, "OpenVLA": 2, "DP3": 2, "DP": 10 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave1_A0", "heldout_successes_per_repeat": [ 49, 49 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true } }, { "task": "SlideUtilityKnife", "figure_task_label": "SlideUtilityKnife", "environment_id": "Dexverse-SlideUtilityKnife-v0", "comparison_group": "Articulated", "benchmark_category": "Articulation", "agentic_percent": 93, "cem_percent": 100, "best_imitation_percent": 0, "imitation_policy_percent": { "pi0.5": 0, "OpenVLA": 0, "DP3": 0, "DP": 0 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave1_A0", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 46, 47 ], "matches_paper_figure": true } }, { "task": "SqueezeScissors", "figure_task_label": "SqueezeScissors", "environment_id": "Dexverse-SqueezeScissors-v0", "comparison_group": "Articulated", "benchmark_category": "Articulation", "agentic_percent": 99, "cem_percent": 68, "best_imitation_percent": 36, "imitation_policy_percent": { "pi0.5": 36, "OpenVLA": 22, "DP3": 20, "DP": 0 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave1_A0", "heldout_successes_per_repeat": [ 34, 34 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 50, 49 ], "matches_paper_figure": true } }, { "task": "FunctionalHammerStrike", "figure_task_label": "FunctionalHammerStrike", "environment_id": "Dexverse-FunctionalHammerStrike-v0", "comparison_group": "Tool Use", "benchmark_category": "Functional", "agentic_percent": 100, "cem_percent": 100, "best_imitation_percent": 26, "imitation_policy_percent": { "pi0.5": 22, "OpenVLA": 18, "DP3": 26, "DP": 0 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e1_pool10_A0", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": null, "campaign": null, "heldout_successes_per_repeat": null, "matches_paper_figure": null, "note": "Shown in the fixed paper figure; no corresponding L3PG chain exists in the supplied 69-task archive." } }, { "task": "FunctionalPourCan", "figure_task_label": "FunctionalPourCan", "environment_id": "Dexverse-FunctionalPourCan-v0", "comparison_group": "Tool Use", "benchmark_category": "Functional", "agentic_percent": 69, "cem_percent": 100, "best_imitation_percent": 38, "imitation_policy_percent": { "pi0.5": 4, "OpenVLA": 10, "DP3": 14, "DP": 38 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave1_A0", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 35, 34 ], "matches_paper_figure": true } }, { "task": "FunctionalPourMug", "figure_task_label": "FunctionalPourMug", "environment_id": "Dexverse-FunctionalPourMug-v0", "comparison_group": "Tool Use", "benchmark_category": "Functional", "agentic_percent": 100, "cem_percent": 100, "best_imitation_percent": 64, "imitation_policy_percent": { "pi0.5": 52, "OpenVLA": 16, "DP3": 64, "DP": 26 }, "source": "paper_figure_2a", "cem_archive_crosscheck": { "source": "archive_A0", "campaign": "e2_wave1_A0", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true }, "agentic_archive_crosscheck": { "source": "archive_L3PG", "campaign": "e2_L3PG", "heldout_successes_per_repeat": [ 50, 50 ], "matches_paper_figure": true } } ], "remaining_categories": [ { "category": "Primitive", "tasks": 7, "task_names": [ "PickCube", "PickUpStick", "PushButton", "RelocateObject", "RelocateSphere", "StackCube", "TurnOnSwitch" ], "agentic_percent": 94.0, "cem_percent": 95.6, "source": "paper_figure_2b", "cem_archive_crosscheck": { "source": "archive_A0", "successes_across_repeats": 669, "scored_episode_slots": 700, "exact_mean_percent": 95.57142857142857 }, "agentic_per_task_source": "The fixed figure supplies a category aggregate. Do not treat the earlier L3PG per-task rows as a verified complete paper campaign." }, { "category": "Functional", "tasks": 2, "task_names": [ "FunctionalDrillApply", "LiftBucket" ], "agentic_percent": 100.0, "cem_percent": 100.0, "source": "paper_figure_2b", "cem_archive_crosscheck": { "source": "archive_A0", "successes_across_repeats": 200, "scored_episode_slots": 200, "exact_mean_percent": 100.0 }, "agentic_per_task_source": "The fixed figure supplies a category aggregate. Do not treat the earlier L3PG per-task rows as a verified complete paper campaign." }, { "category": "Articulation", "tasks": 10, "task_names": [ "GraspBucket", "GraspPot", "LiftBasketHandle", "LiftLid", "OpenDrawer", "OpenGlasses", "OpenHuaweiPhone", "OpenMicrowave", "RotateKnob", "UnscrewCap" ], "agentic_percent": 77.3, "cem_percent": 86.2, "source": "paper_figure_2b", "cem_archive_crosscheck": { "source": "archive_A0", "successes_across_repeats": 862, "scored_episode_slots": 1000, "exact_mean_percent": 86.2 }, "agentic_per_task_source": "The fixed figure supplies a category aggregate. Do not treat the earlier L3PG per-task rows as a verified complete paper campaign." }, { "category": "Bimanual", "tasks": 2, "task_names": [ "BimanualLiftBasket", "BimanualLiftDutchOven" ], "agentic_percent": 93.0, "cem_percent": 96.5, "source": "paper_figure_2b", "cem_archive_crosscheck": { "source": "archive_A0", "successes_across_repeats": 193, "scored_episode_slots": 200, "exact_mean_percent": 96.5 }, "agentic_per_task_source": "The fixed figure supplies a category aggregate. Do not treat the earlier L3PG per-task rows as a verified complete paper campaign." }, { "category": "Multi-goal", "tasks": 35, "task_names": [ "GraspBucketPickUpCan", "GraspBucketPickUpStick", "GraspBucketPourMug", "GraspBucketRelocateSphere", "GraspPotPickUpCan", "GraspPotPickUpStick", "GraspPotPourMug", "GraspPotRelocateSphere", "LiftLidPickUpCan", "LiftLidPickUpStick", "LiftLidPourMug", "LiftLidRelocateSphere", "OpenDrawerPickUpCan", "OpenDrawerPickUpStick", "OpenDrawerPourMug", "OpenDrawerRelocateSphere", "OpenMicrowavePickUpCan", "OpenMicrowavePickUpStick", "OpenMicrowavePourMug", "OpenMicrowaveRelocateSphere", "PourMugPickUpCan", "PourMugPickUpStick", "PourMugRelocateSphere", "PushButtonPickUpCan", "PushButtonPickUpStick", "PushButtonPourMug", "PushButtonRelocateSphere", "RotateKnobPickUpCan", "RotateKnobPickUpStick", "RotateKnobPourMug", "RotateKnobRelocateSphere", "TurnOnSwitchPickUpCan", "TurnOnSwitchPickUpStick", "TurnOnSwitchPourMug", "TurnOnSwitchRelocateSphere" ], "agentic_percent": 99.0, "cem_percent": 98.9, "source": "paper_figure_2b", "cem_archive_crosscheck": { "source": "archive_A0", "successes_across_repeats": 3462, "scored_episode_slots": 3500, "exact_mean_percent": 98.91428571428571 }, "agentic_per_task_source": "The fixed figure supplies a category aggregate. Do not treat the earlier L3PG per-task rows as a verified complete paper campaign." }, { "category": "Long-horizon", "tasks": 4, "task_names": [ "LongHorizon-CookFoods", "LongHorizon-MakeCoffee", "LongHorizon-MicrowaveRetrievePlace", "LongHorizon-OvenBakeSalmon" ], "agentic_percent": 39.8, "cem_percent": 63.2, "source": "paper_figure_2b", "cem_archive_crosscheck": { "source": "archive_A0", "successes_across_repeats": 253, "scored_episode_slots": 400, "exact_mean_percent": 63.25 }, "agentic_per_task_source": "The fixed figure supplies a category aggregate. Do not treat the earlier L3PG per-task rows as a verified complete paper campaign." } ], "comparison_interpretation": { "best_imitation_definition": "For each task, take the highest success rate among pi0.5, OpenVLA, DP3 and DP; then average those 15 per-task maxima. The 46.0% value is not the mean of one fixed imitation policy.", "imitation_training": "All four methods were trained using the same 950 teleoperation episodes (19 tasks \u00d7 50 episodes per task). Observation interfaces differ by method; see DexVerse Section 4.1 and Appendix B.", "program_synthesis_setting": "The synthesized controllers use state observations and simulator feedback without expert demonstrations.", "comparison_scope": "The comparison covers the same 15 tasks; the training resources and observation interfaces differ.", "imitation_observations_by_method": { "pi0.5": "RGB images and language; proprioceptive-state input disabled.", "OpenVLA": "RGB images, joint positions and language.", "DP": "Normalized proprioceptive state, without visual input.", "DP3": "Point clouds and proprioception, without RGB or language input." }, "primary_source_url": "https://arxiv.org/html/2607.08751" }, "campaign_mapping": { "cem": "The paper CEM results cross-check exactly against the 75 valid A0 rows from e1_pool10_A0, e2_wave1_A0 and e2_wave2_A0.", "paper_agentic": "The fixed paper calls this Agentic search. Its 13 rows shared with the supplied L3PG archive match exactly. The paper additionally shows BimanualLiftTray at 92% and FunctionalHammerStrike at 100%, and full-category aggregates over all 75 tasks. The supplied archive has no L3PG chains for the six E1 tasks, so a complete campaign mapping is unavailable.", "earlier_L3P": "The earlier 75-task L3+papers archive has 94.32% overall. It is a separate existing result and must not be substituted for paper Agentic search.", "earlier_L3PG": "The earlier 69-task L3PG archive has 91.55072463768116% overall. The original blog omits its three long-horizon tasks, leaving 66 tasks at 94.37878787878788%.", "missing_agentic_archive_task_names": [ "BimanualLiftTray", "FunctionalHammerStrike", "GraspBucketPickUpCan", "LongHorizon-MicrowaveRetrievePlace", "OpenDrawer", "RelocateSphere" ], "public_archive_check": { "url": "https://huggingface.co/datasets/b09501048/dexverse-opus-5.5-runs", "checked_utc_date": "2026-10-27", "directories": [ "e1_pool10_A0", "e1_pool10_L3P", "e2_L3PG", "e2_wave1_A0", "e2_wave1_L3P", "e2_wave2_A0", "e2_wave2_L3P", "videos" ], "finding": "Public archive lists the same earlier campaigns; no E1 L3PG campaign is listed." } }, "existing_blog_66_task_cohort": { "tasks": 66, "definition": "The original blog uses the 69-task L3PG E2 cohort excluding its three long-horizon tasks. It is not the paper remainder of 60 tasks.", "source": "existing_blog_search_results", "model_driven_campaign": "L3PG", "cem_campaign": "A0", "model_driven_exact_mean_percent": 94.37878787878788, "cem_exact_mean_percent": 96.03030303030303, "model_driven_100_percent_tasks": 49, "cem_100_percent_tasks": 48, "task_names": [ "BimanualLiftBasket", "BimanualLiftCarton", "BimanualLiftDutchOven", "FunctionalDrillApply", "FunctionalPourCan", "FunctionalPourMug", "GraspBleach", "GraspBucket", "GraspBucketPickUpStick", "GraspBucketPourMug", "GraspBucketRelocateSphere", "GraspCup", "GraspKettle", "GraspPan", "GraspPot", "GraspPotPickUpCan", "GraspPotPickUpStick", "GraspPotPourMug", "GraspPotRelocateSphere", "LiftBasketHandle", "LiftBucket", "LiftLid", "LiftLidPickUpCan", "LiftLidPickUpStick", "LiftLidPourMug", "LiftLidRelocateSphere", "OpenDrawerPickUpCan", "OpenDrawerPickUpStick", "OpenDrawerPourMug", "OpenDrawerRelocateSphere", "OpenFaucet", "OpenFlatFolder", "OpenGlasses", "OpenHuaweiPhone", "OpenLaptop", "OpenMicrowave", "OpenMicrowavePickUpCan", "OpenMicrowavePickUpStick", "OpenMicrowavePourMug", "OpenMicrowaveRelocateSphere", "PickCube", "PickUpStick", "PourMugPickUpCan", "PourMugPickUpStick", "PourMugRelocateSphere", "PushButton", "PushButtonPickUpCan", "PushButtonPickUpStick", "PushButtonPourMug", "PushButtonRelocateSphere", "RelocateObject", "RemoveCupFromRack", "RotateKnob", "RotateKnobPickUpCan", "RotateKnobPickUpStick", "RotateKnobPourMug", "RotateKnobRelocateSphere", "SlideUtilityKnife", "SqueezeScissors", "StackCube", "TurnOnSwitch", "TurnOnSwitchPickUpCan", "TurnOnSwitchPickUpStick", "TurnOnSwitchPourMug", "TurnOnSwitchRelocateSphere", "UnscrewCap" ], "model_driven_accepted_tasks": 64, "model_driven_accepted_only_mean_percent": 97.328125, "model_driven_unaccepted_task_names": [ "OpenHuaweiPhone", "OpenGlasses" ], "old_hero_note": "The previous 97.3% hero value can be reproduced as the mean over 64 accepted L3PG policies in the 66-task cohort. Its previous label, 70 tasks across 5 domains, is not supported by this denominator; do not reuse that label." }, "archive_results_by_task": [ { "task": "OpenFaucet", "environment_id": "Dexverse-OpenFaucet-v0", "category": "Primitive", "paper_cohort": "imitation_comparison_15", "cem_A0": { "campaign": "e2_wave2_A0", "key": "OpenFaucet_A0", "status": "accepted", "heldout_successes_per_repeat": [ 50, 50 ], "heldout_episodes_per_repeat": 50, "heldout_percent": 100.0, "search_rollouts": 41, "policy_design_resets": 7 }, "earlier_agentic_L3P": { "campaign": "e2_wave2_L3P", "key": "OpenFaucet_L3P", "status": "accepted", "heldout_successes_per_repeat": [ 50, 50 ], "heldout_episodes_per_repeat": 50, "heldout_percent": 100.0, "search_rollouts": 120, "policy_design_resets": 0 }, "earlier_grasp_aware_L3PG": { "campaign": "e2_L3PG", "key": "OpenFaucet_L3PG", "status": "accepted", "heldout_successes_per_repeat": [ 50, 50 ], "heldout_episodes_per_repeat": 50, "heldout_percent": 100.0, "search_rollouts": 59, "policy_design_resets": 0 } }, { "task": "PickCube", "environment_id": "Dexverse-PickCube-v0", "category": "Primitive", "paper_cohort": "remaining_60", "cem_A0": { "campaign": "e2_wave2_A0", "key": "PickCube_A0", "status": "accepted", "heldout_successes_per_repeat": [ 50, 50 ], "heldout_episodes_per_repeat": 50, "heldout_percent": 100.0, "search_rollouts": 0, "policy_design_resets": 2 }, "earlier_agentic_L3P": { "campaign": "e2_wave2_L3P", "key": "PickCube_L3P", "status": "accepted", "heldout_successes_per_repeat": [ 50, 50 ], "heldout_episodes_per_repeat": 50, "heldout_percent": 100.0, "search_rollouts": 0, "policy_design_resets": 2 }, "earlier_grasp_aware_L3PG": { "campaign": "e2_L3PG", "key": "PickCube_L3PG", "status": "accepted", "heldout_successes_per_repeat": [ 50, 50 ], "heldout_episodes_per_repeat": 50, "heldout_percent": 100.0, "search_rollouts": 50, "policy_design_resets": 0 } }, { "task": "PickUpStick", "environment_id": "Dexverse-PickUpStick-v0", 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