{ "model": "claude-opus-5-5", "source": "DexVerse campaign report.json files, read by scripts/export_search_tasks.py; videos are the recorded held-out success renders, copied unchanged", "arms": { "model_driven": "Agentic search", "cem": "CEM search", "baseline": "Baseline (policy search), not yet run" }, "heldout_metric": "Adroit: frozen policy on 30 unseen starts, one run. DexVerse: 50 unseen starts, mean of two repeats. Unaccepted tasks count as 0%.", "rollouts_metric": "Total rollouts = parameter-search rollouts + policy-design resets.", "video_note": "One held-out episode per task, from Agentic search (video_arm: model_driven) unless noted: a success, or where Agentic search has no accepted policy, CEM search's accepted policy (video_arm: cem) or else a failed episode of the last submitted Agentic policy (video_outcome: failure); tasks with no recorded video show none.", "baseline_note": "Baseline values are null until the runs exist; all BASELINE entries are None", "summary": [ { "group": "Adroit", "task": "Door", "model_driven": { "search_rollouts": 282, "resets": 1, "total_rollouts": 283, "heldout_percent": 100.0 }, "cem": { "search_rollouts": 13, "resets": 8, "total_rollouts": 21, "heldout_percent": 100.0 }, "baseline": null }, { "group": "Adroit", "task": "Hammer", "model_driven": { "search_rollouts": 91, "resets": 2, "total_rollouts": 93, "heldout_percent": 93.3 }, "cem": { "search_rollouts": 1056, "resets": 7, "total_rollouts": 1063, "heldout_percent": 100.0 }, "baseline": null }, { "group": "Adroit", "task": "Relocate", "model_driven": { "search_rollouts": 37, "resets": 0, "total_rollouts": 37, "heldout_percent": 66.7 }, "cem": { "search_rollouts": 31, "resets": 14, "total_rollouts": 45, "heldout_percent": 100.0 }, "baseline": null }, { "group": "Primitive", "tasks": 7, "model_driven": { "search_rollouts": 119.9, "resets": 1.6, "total_rollouts": 121.4, "heldout_percent": 94.0 }, "cem": { "search_rollouts": 5.9, "resets": 6.7, "total_rollouts": 12.6, "heldout_percent": 95.6 }, "baseline": null }, { "group": "Functional", "tasks": 9, "model_driven": { "search_rollouts": 108.0, "resets": 2.8, "total_rollouts": 110.8, "heldout_percent": 96.3 }, "cem": { "search_rollouts": 93.2, "resets": 16.3, "total_rollouts": 109.6, "heldout_percent": 98.6 }, "baseline": null }, { "group": "Articulation", "tasks": 13, "model_driven": { "search_rollouts": 417.5, "resets": 6.2, "total_rollouts": 423.7, "heldout_percent": 81.0 }, "cem": { "search_rollouts": 192.5, "resets": 24.7, "total_rollouts": 217.2, "heldout_percent": 86.7 }, "baseline": null }, { "group": "Bimanual", "tasks": 3, "model_driven": { "search_rollouts": 134.7, "resets": 0.3, "total_rollouts": 135.0, "heldout_percent": 95.3 }, "cem": { "search_rollouts": 0.0, "resets": 7.7, "total_rollouts": 7.7, "heldout_percent": 97.7 }, "baseline": null }, { "group": "Multi-goal", "tasks": 34, "model_driven": { "search_rollouts": 71.2, "resets": 1.2, "total_rollouts": 72.4, "heldout_percent": 99.0 }, "cem": { "search_rollouts": 7.2, "resets": 5.5, "total_rollouts": 12.6, "heldout_percent": 98.9 }, "baseline": null } ], "tasks": [ { "benchmark": "Adroit", "group": "Adroit", "task": "Pen", "video": "assets/videos/model-driven/Adroit-Pen.mp4", "video_outcome": "success", "video_arm": "model_driven", "heldout_repeats": [ 17 ], "episodes": 30, "model_driven": { "accepted": true, "search_rollouts": 4192, "resets": 32, "total_rollouts": 4224, "heldout_percent": 56.7 }, "cem": { "accepted": true, "search_rollouts": 25699, "resets": 89, "total_rollouts": 25788, "heldout_percent": 33.3 }, "baseline": null }, { "benchmark": "Adroit", "group": "Adroit", "task": "Door", "video": "assets/videos/model-driven/Adroit-Door.mp4", "video_outcome": "success", "video_arm": "model_driven", "heldout_repeats": [ 30 ], "episodes": 30, "model_driven": { "accepted": true, "search_rollouts": 282, "resets": 1, "total_rollouts": 283, "heldout_percent": 100.0 }, "cem": { "accepted": true, "search_rollouts": 13, "resets": 8, "total_rollouts": 21, "heldout_percent": 100.0 }, "baseline": null }, { "benchmark": "Adroit", "group": "Adroit", "task": "Hammer", "video": "assets/videos/model-driven/Adroit-Hammer.mp4", "video_outcome": "success", "video_arm": "model_driven", "heldout_repeats": [ 28 ], "episodes": 30, "model_driven": { "accepted": true, "search_rollouts": 91, "resets": 2, "total_rollouts": 93, "heldout_percent": 93.3 }, "cem": { "accepted": true, "search_rollouts": 1056, "resets": 7, "total_rollouts": 1063, "heldout_percent": 100.0 }, "baseline": null }, { "benchmark": "Adroit", "group": "Adroit", "task": "Relocate", "video": "assets/videos/model-driven/Adroit-Relocate.mp4", "video_outcome": "success", "video_arm": "model_driven", "heldout_repeats": [ 20 ], "episodes": 30, "model_driven": { "accepted": true, "search_rollouts": 37, "resets": 0, "total_rollouts": 37, "heldout_percent": 66.7 }, "cem": { "accepted": true, "search_rollouts": 31, "resets": 14, "total_rollouts": 45, "heldout_percent": 100.0 }, "baseline": null }, { "benchmark": "DexVerse", "group": "Primitive", "task": "RelocateObject", "video": "assets/videos/model-driven/DexVerse-RelocateObject.mp4", "video_outcome": "success", "video_arm": "model_driven", "heldout_repeats": [ 29, 29 ], "episodes": 50, "model_driven": { "accepted": true, "search_rollouts": 580, "resets": 2, "total_rollouts": 582, "heldout_percent": 58.0 }, "cem": { "accepted": true, "search_rollouts": 0, "resets": 28, "total_rollouts": 28, "heldout_percent": 69.0 }, "baseline": null }, { "benchmark": "DexVerse", "group": "Primitive", "task": "PushButton", "video": "assets/videos/model-driven/DexVerse-PushButton.mp4", "video_outcome": "success", "video_arm": "model_driven", "heldout_repeats": [ 50, 50 ], "episodes": 50, "model_driven": { "accepted": true, "search_rollouts": 76, "resets": 0, "total_rollouts": 76, "heldout_percent": 100.0 }, "cem": { "accepted": true, "search_rollouts": 0, "resets": 3, "total_rollouts": 3, "heldout_percent": 100.0 }, "baseline": null }, { "benchmark": "DexVerse", "group": "Primitive", "task": "OpenFaucet", "video": "assets/videos/model-driven/DexVerse-OpenFaucet.mp4", "video_outcome": "success", "video_arm": "model_driven", "heldout_repeats": [ 50, 50 ], "episodes": 50, "model_driven": { "accepted": true, "search_rollouts": 59, "resets": 0, "total_rollouts": 59, "heldout_percent": 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