{
 "schema": "lift.study-d.summary.v1",
 "task": "Isaac-Lift-Franka",
 "isaaclab_commit": "ae37b028ea415c91ea2bc32609efcd759ed2b974",
 "training": {
  "seed": 0,
  "num_envs": 4096,
  "budget": "15,000 iterations (Isaac Lab default), then resumed from the final checkpoint for 5,000 more",
  "note": "Resuming restarts the curriculum at zero gravity and rebuilds the start-state bank."
 },
 "final_evaluation": {
  "N19998-on-N-nominal": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_18-40-05_newton_mjwarp-seed0-ext/model_19998.pt",
   "condition": "nominal",
   "physics": "NewtonCfg",
   "n": 512,
   "success_rate": 0.548828125,
   "terminations": {
    "abnormal_robot": 69,
    "object_out_of_bound": 177,
    "time_out": 266
   },
   "first_success_s_median": 2.366666555404663
  },
  "N19998-on-N-play": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_18-40-05_newton_mjwarp-seed0-ext/model_19998.pt",
   "condition": "play",
   "physics": "NewtonCfg",
   "n": 512,
   "success_rate": 0.865234375,
   "terminations": {
    "abnormal_robot": 31,
    "object_out_of_bound": 8,
    "time_out": 473
   },
   "first_success_s_median": 2.5333333015441895
  },
  "N19998-on-N-standard": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_18-40-05_newton_mjwarp-seed0-ext/model_19998.pt",
   "condition": "standard",
   "physics": "NewtonCfg",
   "n": 512,
   "success_rate": 0.880859375,
   "terminations": {
    "abnormal_robot": 37,
    "object_out_of_bound": 14,
    "time_out": 461
   },
   "first_success_s_median": 2.5333333015441895
  },
  "N19998-on-P-nominal": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_18-40-05_newton_mjwarp-seed0-ext/model_19998.pt",
   "condition": "nominal",
   "physics": "PhysxCfg",
   "n": 512,
   "success_rate": 0.763671875,
   "terminations": {
    "abnormal_robot": 48,
    "object_out_of_bound": 1,
    "time_out": 463
   },
   "first_success_s_median": 2.9666666984558105
  },
  "N19998-on-P-play": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_18-40-05_newton_mjwarp-seed0-ext/model_19998.pt",
   "condition": "play",
   "physics": "PhysxCfg",
   "n": 512,
   "success_rate": 0.677734375,
   "terminations": {
    "abnormal_robot": 95,
    "object_out_of_bound": 10,
    "time_out": 407
   },
   "first_success_s_median": 2.933333396911621
  },
  "N19998-on-P-standard": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_18-40-05_newton_mjwarp-seed0-ext/model_19998.pt",
   "condition": "standard",
   "physics": "PhysxCfg",
   "n": 512,
   "success_rate": 0.68359375,
   "terminations": {
    "abnormal_robot": 86,
    "object_out_of_bound": 10,
    "time_out": 416
   },
   "first_success_s_median": 3.200000047683716
  },
  "P19998-on-N-nominal": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_19998.pt",
   "condition": "nominal",
   "physics": "NewtonCfg",
   "n": 512,
   "success_rate": 0.3984375,
   "terminations": {
    "abnormal_robot": 53,
    "object_out_of_bound": 209,
    "time_out": 250
   },
   "first_success_s_median": 2.4000000953674316
  },
  "P19998-on-N-play": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_19998.pt",
   "condition": "play",
   "physics": "NewtonCfg",
   "n": 512,
   "success_rate": 0.51953125,
   "terminations": {
    "abnormal_robot": 117,
    "object_out_of_bound": 36,
    "time_out": 359
   },
   "first_success_s_median": 2.75
  },
  "P19998-on-N-standard": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_19998.pt",
   "condition": "standard",
   "physics": "NewtonCfg",
   "n": 512,
   "success_rate": 0.525390625,
   "terminations": {
    "abnormal_robot": 109,
    "object_out_of_bound": 39,
    "time_out": 364
   },
   "first_success_s_median": 2.6666667461395264
  },
  "P19998-on-P-nominal": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_19998.pt",
   "condition": "nominal",
   "physics": "PhysxCfg",
   "n": 512,
   "success_rate": 0.884765625,
   "terminations": {
    "abnormal_robot": 25,
    "object_out_of_bound": 2,
    "time_out": 485
   },
   "first_success_s_median": 2.7666666507720947
  },
  "P19998-on-P-play": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_19998.pt",
   "condition": "play",
   "physics": "PhysxCfg",
   "n": 512,
   "success_rate": 0.828125,
   "terminations": {
    "abnormal_robot": 57,
    "object_out_of_bound": 10,
    "time_out": 445
   },
   "first_success_s_median": 2.7333333492279053
  },
  "P19998-on-P-standard": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_19998.pt",
   "condition": "standard",
   "physics": "PhysxCfg",
   "n": 512,
   "success_rate": 0.81640625,
   "terminations": {
    "abnormal_robot": 56,
    "object_out_of_bound": 17,
    "time_out": 439
   },
   "first_success_s_median": 2.8333332538604736
  }
 },
 "progression": {
  "progress-N0-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_0.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-N10000-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_10000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-N12000-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_12000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-N13000-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_13000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-N13500-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_13500.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0234375
  },
  "progress-N14000-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_14000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0234375
  },
  "progress-N14500-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_14500.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.203125
  },
  "progress-N14999-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_14999.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.46875
  },
  "progress-N16000-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_18-40-05_newton_mjwarp-seed0-ext/model_16000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.6640625
  },
  "progress-N18000-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_18-40-05_newton_mjwarp-seed0-ext/model_18000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.765625
  },
  "progress-N19998-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_18-40-05_newton_mjwarp-seed0-ext/model_19998.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.859375
  },
  "progress-N2000-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_2000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-N4000-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_4000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-N6000-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_6000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-N8000-on-N": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-21_newton_mjwarp-seed0/model_8000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-P0-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_0.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-P10000-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_10000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-P12000-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_12000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-P13000-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_13000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-P14000-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_14000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-P14500-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_14500.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.015625
  },
  "progress-P16000-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_16000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.484375
  },
  "progress-P18000-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_18000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.8046875
  },
  "progress-P19998-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_22-47-10_isaacsim_physx-seed0-ext/model_19998.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.8125
  },
  "progress-P2000-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_2000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-P4000-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_4000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-P6000-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_6000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  },
  "progress-P8000-on-P": {
   "checkpoint": "logs/rsl_rl/l0-pilot/2026-10-24_10-23-22_isaacsim_physx-seed0/model_8000.pt",
   "condition": "play",
   "n": 128,
   "success_rate": 0.0
  }
 },
 "conditions": {
  "standard": "play mode, curriculum at maximum, training randomization on, validity-checked state bank without spawn-in-hand, uniform draws",
  "play": "Isaac Lab play mode unchanged (spawn-in-hand for a quarter of episodes; success-balanced state bank)",
  "nominal": "standard with startup randomization off"
 },
 "pairing": "unpaired: the backends draw different starting states from the same seed",
 "invalid_runs": "An earlier evaluation replaced the state bank with raw reset terms (about 1 in 6 starts interpenetrated) and an attempt to inject identical starts broke episodes; neither is used."
}