{
  "schema_version": 2,
  "campaigns": [
    {
      "source_sha256": "0b53d84fb2ed647fb339817a6b3845cd851da68a77699b469d6ca06c867f399d",
      "seeds": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9
      ],
      "episodes": 60,
      "expected": 60,
      "complete": true,
      "tasks": [
        "pick_place",
        "push",
        "stack"
      ]
    },
    {
      "source_sha256": "d5a76ee31cd893072c2a54a41f5b0d151c4a2789c9cff4af029b9d15a7f8afdd",
      "seeds": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9
      ],
      "episodes": 40,
      "expected": 40,
      "complete": true,
      "tasks": [
        "peg_insert",
        "obstacle_pick_place"
      ],
      "recording": "exact physical state captured during evaluated trials"
    }
  ],
  "tasks": {
    "pick_place": {
      "rule": {
        "episodes": 10,
        "successes": 10,
        "success_rate": 1.0,
        "wilson_95": [
          0.7224672001371218,
          0.9999999999999999
        ],
        "failures": [],
        "mean_wall_s": 6.158649202715606,
        "mean_decisions": 130.1,
        "api_p50_ms": null,
        "api_p95_ms": null,
        "source_sha256": "0b53d84fb2ed647fb339817a6b3845cd851da68a77699b469d6ca06c867f399d"
      },
      "jev": {
        "episodes": 10,
        "successes": 10,
        "success_rate": 1.0,
        "wilson_95": [
          0.7224672001371218,
          0.9999999999999999
        ],
        "failures": [],
        "mean_wall_s": 224.86429497878999,
        "mean_decisions": 128.3,
        "api_p50_ms": 1237.9693128168583,
        "api_p95_ms": 4552.838461659849,
        "source_sha256": "0b53d84fb2ed647fb339817a6b3845cd851da68a77699b469d6ca06c867f399d"
      }
    },
    "push": {
      "rule": {
        "episodes": 10,
        "successes": 10,
        "success_rate": 1.0,
        "wilson_95": [
          0.7224672001371218,
          0.9999999999999999
        ],
        "failures": [],
        "mean_wall_s": 2.174180818814784,
        "mean_decisions": 88.9,
        "api_p50_ms": null,
        "api_p95_ms": null,
        "source_sha256": "0b53d84fb2ed647fb339817a6b3845cd851da68a77699b469d6ca06c867f399d"
      },
      "jev": {
        "episodes": 10,
        "successes": 10,
        "success_rate": 1.0,
        "wilson_95": [
          0.7224672001371218,
          0.9999999999999999
        ],
        "failures": [],
        "mean_wall_s": 126.75434781871736,
        "mean_decisions": 81.7,
        "api_p50_ms": 1227.775389328599,
        "api_p95_ms": 3509.165225923057,
        "source_sha256": "0b53d84fb2ed647fb339817a6b3845cd851da68a77699b469d6ca06c867f399d"
      }
    },
    "stack": {
      "rule": {
        "episodes": 10,
        "successes": 10,
        "success_rate": 1.0,
        "wilson_95": [
          0.7224672001371218,
          0.9999999999999999
        ],
        "failures": [],
        "mean_wall_s": 5.896125816041604,
        "mean_decisions": 125.2,
        "api_p50_ms": null,
        "api_p95_ms": null,
        "source_sha256": "0b53d84fb2ed647fb339817a6b3845cd851da68a77699b469d6ca06c867f399d"
      },
      "jev": {
        "episodes": 10,
        "successes": 8,
        "success_rate": 0.8,
        "wilson_95": [
          0.49016247153665027,
          0.943317848545623
        ],
        "failures": [
          {
            "seed": 4,
            "reason": "policy_error"
          },
          {
            "seed": 7,
            "reason": "policy_error"
          }
        ],
        "mean_wall_s": 182.4278402757831,
        "mean_decisions": 126.9,
        "api_p50_ms": 1247.199126984924,
        "api_p95_ms": 2169.4835017435225,
        "source_sha256": "0b53d84fb2ed647fb339817a6b3845cd851da68a77699b469d6ca06c867f399d"
      }
    },
    "peg_insert": {
      "rule": {
        "episodes": 10,
        "successes": 10,
        "success_rate": 1.0,
        "wilson_95": [
          0.7224672001371218,
          0.9999999999999999
        ],
        "failures": [],
        "mean_wall_s": 7.012253966554999,
        "mean_decisions": 168.5,
        "api_p50_ms": null,
        "api_p95_ms": null,
        "source_sha256": "d5a76ee31cd893072c2a54a41f5b0d151c4a2789c9cff4af029b9d15a7f8afdd"
      },
      "jev": {
        "episodes": 10,
        "successes": 10,
        "success_rate": 1.0,
        "wilson_95": [
          0.7224672001371218,
          0.9999999999999999
        ],
        "failures": [],
        "mean_wall_s": 253.1238381670788,
        "mean_decisions": 168.9,
        "api_p50_ms": 1296.4875074103475,
        "api_p95_ms": 2348.6528500914574,
        "source_sha256": "d5a76ee31cd893072c2a54a41f5b0d151c4a2789c9cff4af029b9d15a7f8afdd"
      }
    },
    "obstacle_pick_place": {
      "rule": {
        "episodes": 10,
        "successes": 8,
        "success_rate": 0.8,
        "wilson_95": [
          0.49016247153665027,
          0.943317848545623
        ],
        "failures": [
          {
            "seed": 0,
            "reason": "obstacle_collision",
            "failure": {
              "code": "obstacle_collision",
              "boundary": "robot or object gate contact force > 0.05 N",
              "measurements": {
                "object_bottom_m": 0.006116256791620332,
                "contact_force_n": 17.38538177254206,
                "socket_force_n": 0.0,
                "gate_clearance_m": -0.11388374320837966,
                "lateral_clearance_m": -0.00034643892525806214,
                "gate_x_m": 0.51,
                "object_min_x_m": 0.6179183035573913,
                "object_max_x_m": 0.6579607688142927,
                "linear_speed_m_s": 0.0286209298704688,
                "angular_speed_rad_s": 0.00946280320542416,
                "support_contact": false,
                "max_gate_contact_force_n": 17.38538177254206
              },
              "first_step": 240
            }
          },
          {
            "seed": 4,
            "reason": "obstacle_collision",
            "failure": {
              "code": "obstacle_collision",
              "boundary": "robot or object gate contact force > 0.05 N",
              "measurements": {
                "object_bottom_m": 0.004681802344721226,
                "contact_force_n": 15.026677177719117,
                "socket_force_n": 0.0,
                "gate_clearance_m": -0.11531819765527877,
                "lateral_clearance_m": 0.014567847442030948,
                "gate_x_m": 0.51,
                "object_min_x_m": 0.6226573432392756,
                "object_max_x_m": 0.6628019623879108,
                "linear_speed_m_s": 0.02995889659487302,
                "angular_speed_rad_s": 0.010032126651845743,
                "support_contact": false,
                "max_gate_contact_force_n": 15.026677177719117
              },
              "first_step": 130
            }
          }
        ],
        "mean_wall_s": 13.186266132630408,
        "mean_decisions": 158.4,
        "api_p50_ms": null,
        "api_p95_ms": null,
        "source_sha256": "d5a76ee31cd893072c2a54a41f5b0d151c4a2789c9cff4af029b9d15a7f8afdd"
      },
      "jev": {
        "episodes": 10,
        "successes": 5,
        "success_rate": 0.5,
        "wilson_95": [
          0.23659309051256927,
          0.7634069094874307
        ],
        "failures": [
          {
            "seed": 0,
            "reason": "obstacle_collision",
            "failure": {
              "code": "obstacle_collision",
              "boundary": "robot or object gate contact force > 0.05 N",
              "measurements": {
                "object_bottom_m": 0.010102682052977693,
                "contact_force_n": 43.99629640384023,
                "socket_force_n": 0.0,
                "gate_clearance_m": -0.1098973179470223,
                "lateral_clearance_m": 0.004356040050735428,
                "gate_x_m": 0.51,
                "object_min_x_m": 0.5886276533706185,
                "object_max_x_m": 0.6287335736074897,
                "linear_speed_m_s": 0.0603849857804344,
                "angular_speed_rad_s": 0.02684147231782439,
                "support_contact": false,
                "max_gate_contact_force_n": 43.99629640384023
              },
              "first_step": 120
            }
          },
          {
            "seed": 1,
            "reason": "max_decisions",
            "failure": {
              "code": "obstacle_crossing_timeout",
              "boundary": "decision budget exhausted before valid crossing, released containment and 0.5 s stability",
              "first_step": 350,
              "measurements": {
                "object_bottom_m": -0.00021551084043238203,
                "contact_force_n": 0.0,
                "socket_force_n": 0.0,
                "gate_clearance_m": -0.12021551084043237,
                "lateral_clearance_m": 0.0007663845090040387,
                "gate_x_m": 0.51,
                "object_min_x_m": 0.36851391088977803,
                "object_max_x_m": 0.40851391088977806,
                "linear_speed_m_s": 5.722320271571353e-16,
                "angular_speed_rad_s": 1.0436740460881002e-15,
                "support_contact": false,
                "max_gate_contact_force_n": 0.0,
                "crossed_gate": false,
                "min_crossing_clearance_m": null
              }
            }
          },
          {
            "seed": 7,
            "reason": "policy_error",
            "failure": {
              "code": "policy_error",
              "boundary": "episode terminated: policy_error",
              "first_step": 75,
              "measurements": {
                "object_bottom_m": -0.00021551084043238203,
                "contact_force_n": 0.0,
                "socket_force_n": 0.0,
                "gate_clearance_m": -0.12021551084043237,
                "lateral_clearance_m": 0.003972572390192261,
                "gate_x_m": 0.51,
                "object_min_x_m": 0.36691641402908726,
                "object_max_x_m": 0.4069164140290873,
                "linear_speed_m_s": 5.596296869787568e-16,
                "angular_speed_rad_s": 1.1170748134830743e-15,
                "support_contact": false,
                "max_gate_contact_force_n": 0.0,
                "crossed_gate": false,
                "min_crossing_clearance_m": null
              },
              "detail": "invalid TypeSafe choice response; no action executed",
              "response_checks": [
                {
                  "stage": "intent",
                  "head": "intent",
                  "choice": "approach",
                  "selected_probability": 0.99,
                  "maximum_probability": 0.99
                },
                {
                  "stage": "motor",
                  "head": "x",
                  "choice": "zero",
                  "selected_probability": 1.0,
                  "maximum_probability": 1.0
                },
                {
                  "stage": "motor",
                  "head": "y",
                  "choice": "positive",
                  "selected_probability": 0.49,
                  "maximum_probability": 0.5
                },
                {
                  "stage": "motor",
                  "head": "z",
                  "choice": "zero",
                  "selected_probability": 0.97,
                  "maximum_probability": 0.97
                },
                {
                  "stage": "motor",
                  "head": "gripper",
                  "choice": "open",
                  "selected_probability": 0.87,
                  "maximum_probability": 0.87
                }
              ]
            }
          },
          {
            "seed": 8,
            "reason": "max_decisions",
            "failure": {
              "code": "obstacle_crossing_timeout",
              "boundary": "decision budget exhausted before valid crossing, released containment and 0.5 s stability",
              "first_step": 350,
              "measurements": {
                "object_bottom_m": -0.0002155108404323751,
                "contact_force_n": 0.0,
                "socket_force_n": 0.0,
                "gate_clearance_m": -0.12021551084043237,
                "lateral_clearance_m": 0.007748433539201998,
                "gate_x_m": 0.51,
                "object_min_x_m": 0.36961830530013845,
                "object_max_x_m": 0.4096183053001385,
                "linear_speed_m_s": 4.784470005372279e-16,
                "angular_speed_rad_s": 9.39450228262475e-16,
                "support_contact": false,
                "max_gate_contact_force_n": 0.0,
                "crossed_gate": false,
                "min_crossing_clearance_m": null
              }
            }
          },
          {
            "seed": 9,
            "reason": "obstacle_collision",
            "failure": {
              "code": "obstacle_collision",
              "boundary": "robot or object gate contact force > 0.05 N",
              "measurements": {
                "object_bottom_m": 0.009074754528177038,
                "contact_force_n": 26.585714345820772,
                "socket_force_n": 0.0,
                "gate_clearance_m": -0.11092524547182296,
                "lateral_clearance_m": 0.007850521316643065,
                "gate_x_m": 0.51,
                "object_min_x_m": 0.6146362329942486,
                "object_max_x_m": 0.654753136232925,
                "linear_speed_m_s": 0.045735342518486856,
                "angular_speed_rad_s": 0.018318627419976505,
                "support_contact": false,
                "max_gate_contact_force_n": 26.585714345820772
              },
              "first_step": 120
            }
          }
        ],
        "mean_wall_s": 274.83643974666484,
        "mean_decisions": 174.1,
        "api_p50_ms": 1275.8985878899693,
        "api_p95_ms": 2324.862190987915,
        "source_sha256": "d5a76ee31cd893072c2a54a41f5b0d151c4a2789c9cff4af029b9d15a7f8afdd"
      }
    }
  },
  "episodes": 100,
  "expected": 100,
  "complete": true,
  "seeds": [
    0,
    1,
    2,
    3,
    4,
    5,
    6,
    7,
    8,
    9
  ]
}
