{
  "artifacts": [
    {
      "kind": "metrics",
      "path": "metrics.json",
      "sha256": "e77f6a79ddf199c92eca1642883921cbd0fb8a2988763a2b1ef604a7e4dc0a91"
    },
    {
      "kind": "events",
      "path": "predictive_episode_events.json",
      "sha256": "9fcb00648c516a3766e13e535fce41522f5d49881221c551e1675a22c7225421"
    },
    {
      "kind": "scene",
      "path": "scene_initial.png",
      "sha256": "8afa759bc85408f14d75d03da1ad57e32dc6824879f3f9911374b0f866e369e5"
    }
  ],
  "blockers": [],
  "experiment_id": "6-12",
  "kind": "desktop_manipulation_planning",
  "metrics": {
    "cells": [
      {
        "episodes": 128,
        "failure_probability": 0.0,
        "mean_tool_calls": 4.0,
        "mode": "open_loop",
        "recoveries": 0,
        "seed": 20260808,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.0,
        "mean_tool_calls": 6.0,
        "mode": "closed_loop",
        "recoveries": 0,
        "seed": 20260808,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.0,
        "mean_tool_calls": 6.0,
        "mode": "predictive",
        "recoveries": 0,
        "seed": 20260808,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.25,
        "mean_tool_calls": 4.0,
        "mode": "open_loop",
        "recoveries": 34,
        "seed": 20260808,
        "success_rate": 0.734375
      },
      {
        "episodes": 128,
        "failure_probability": 0.25,
        "mean_tool_calls": 6.53125,
        "mode": "closed_loop",
        "recoveries": 34,
        "seed": 20260808,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.25,
        "mean_tool_calls": 6.53125,
        "mode": "predictive",
        "recoveries": 34,
        "seed": 20260808,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.5,
        "mean_tool_calls": 4.0,
        "mode": "open_loop",
        "recoveries": 60,
        "seed": 20260808,
        "success_rate": 0.53125
      },
      {
        "episodes": 128,
        "failure_probability": 0.5,
        "mean_tool_calls": 6.9375,
        "mode": "closed_loop",
        "recoveries": 60,
        "seed": 20260808,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.5,
        "mean_tool_calls": 6.9375,
        "mode": "predictive",
        "recoveries": 60,
        "seed": 20260808,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.0,
        "mean_tool_calls": 4.0,
        "mode": "open_loop",
        "recoveries": 0,
        "seed": 20260809,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.0,
        "mean_tool_calls": 6.0,
        "mode": "closed_loop",
        "recoveries": 0,
        "seed": 20260809,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.0,
        "mean_tool_calls": 6.0,
        "mode": "predictive",
        "recoveries": 0,
        "seed": 20260809,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.25,
        "mean_tool_calls": 4.0,
        "mode": "open_loop",
        "recoveries": 34,
        "seed": 20260809,
        "success_rate": 0.734375
      },
      {
        "episodes": 128,
        "failure_probability": 0.25,
        "mean_tool_calls": 6.53125,
        "mode": "closed_loop",
        "recoveries": 34,
        "seed": 20260809,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.25,
        "mean_tool_calls": 6.53125,
        "mode": "predictive",
        "recoveries": 34,
        "seed": 20260809,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.5,
        "mean_tool_calls": 4.0,
        "mode": "open_loop",
        "recoveries": 60,
        "seed": 20260809,
        "success_rate": 0.53125
      },
      {
        "episodes": 128,
        "failure_probability": 0.5,
        "mean_tool_calls": 6.9375,
        "mode": "closed_loop",
        "recoveries": 60,
        "seed": 20260809,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.5,
        "mean_tool_calls": 6.9375,
        "mode": "predictive",
        "recoveries": 60,
        "seed": 20260809,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.0,
        "mean_tool_calls": 4.0,
        "mode": "open_loop",
        "recoveries": 0,
        "seed": 20260810,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.0,
        "mean_tool_calls": 6.0,
        "mode": "closed_loop",
        "recoveries": 0,
        "seed": 20260810,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.0,
        "mean_tool_calls": 6.0,
        "mode": "predictive",
        "recoveries": 0,
        "seed": 20260810,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.25,
        "mean_tool_calls": 4.0,
        "mode": "open_loop",
        "recoveries": 33,
        "seed": 20260810,
        "success_rate": 0.7421875
      },
      {
        "episodes": 128,
        "failure_probability": 0.25,
        "mean_tool_calls": 6.515625,
        "mode": "closed_loop",
        "recoveries": 33,
        "seed": 20260810,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.25,
        "mean_tool_calls": 6.515625,
        "mode": "predictive",
        "recoveries": 33,
        "seed": 20260810,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.5,
        "mean_tool_calls": 4.0,
        "mode": "open_loop",
        "recoveries": 59,
        "seed": 20260810,
        "success_rate": 0.5390625
      },
      {
        "episodes": 128,
        "failure_probability": 0.5,
        "mean_tool_calls": 6.921875,
        "mode": "closed_loop",
        "recoveries": 59,
        "seed": 20260810,
        "success_rate": 1.0
      },
      {
        "episodes": 128,
        "failure_probability": 0.5,
        "mean_tool_calls": 6.921875,
        "mode": "predictive",
        "recoveries": 59,
        "seed": 20260810,
        "success_rate": 1.0
      }
    ],
    "deterministic_replay": true,
    "device": {
      "device": "mps",
      "name": "Apple Metal Performance Shaders",
      "torch": "2.7.0"
    },
    "models": [
      {
        "seed": 20260808,
        "test_mse": 0.017016880214214325,
        "train_mse": 0.017159195616841316
      },
      {
        "seed": 20260809,
        "test_mse": 0.012364446185529232,
        "train_mse": 0.01264232862740755
      },
      {
        "seed": 20260810,
        "test_mse": 0.014977166429162025,
        "train_mse": 0.015084807761013508
      }
    ],
    "protocol": {
      "episodes_per_cell": 128,
      "failure_probabilities": [
        0.0,
        0.25,
        0.5
      ],
      "seeds": [
        20260808,
        20260809,
        20260810
      ],
      "total_episodes": 3456
    },
    "wall_time_ms": 8197.975
  },
  "schema_version": "3.0",
  "seed": 20260808,
  "status": "complete",
  "tool_contract": [
    "observe_scene",
    "pick",
    "place",
    "verify_state",
    "stop"
  ],
  "xlerobot_robocrew_extension": {
    "actuation_attempted": false,
    "status": "gated",
    "tool_adapter_required": true
  }
}