{
  "checkpoint": "markov-expert",
  "seed": 9001,
  "envs": 128,
  "policy": "privileged Markov scripted expert (baseline)",
  "success": "clearance >= 10 cm, both pads >= 0.05 N, stable, held 2 s",
  "results": [
    {
      "scale": 0.1,
      "successes": 128,
      "episodes": 128,
      "success_rate": 1.0,
      "wilson95": [
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        0.9999999999999998
      ],
      "outcomes": {
        "success": 128
      },
      "mean_success_time_s": 15.0,
      "mean_max_clearance_m": 0.14581359343122574,
      "wall_s": 81.22050595283508
    },
    {
      "scale": 0.3,
      "successes": 121,
      "episodes": 128,
      "success_rate": 0.9453125,
      "wilson95": [
        0.8914138332864409,
        0.9732601391168066
      ],
      "outcomes": {
        "success": 121,
        "never bilaterally grasped": 1,
        "lifted, hold < 2 s": 3,
        "grasped, not lifted 10 cm": 2,
        "tipped": 1
      },
      "mean_success_time_s": 15.0,
      "mean_max_clearance_m": 0.1439498950078063,
      "wall_s": 87.61836671829224
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    {
      "scale": 0.5,
      "successes": 101,
      "episodes": 128,
      "success_rate": 0.7890625,
      "wilson95": [
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        0.8507878814497541
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      "outcomes": {
        "success": 101,
        "never bilaterally grasped": 19,
        "lifted, hold < 2 s": 7,
        "tipped": 1
      },
      "mean_success_time_s": 15.0,
      "mean_max_clearance_m": 0.1241549715959067,
      "wall_s": 90.72860980033875
    },
    {
      "scale": 0.7,
      "successes": 75,
      "episodes": 128,
      "success_rate": 0.5859375,
      "wilson95": [
        0.4993170001197534,
        0.6675499068352593
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      "outcomes": {
        "success": 75,
        "never bilaterally grasped": 42,
        "lifted, hold < 2 s": 6,
        "tipped": 3,
        "grasped, not lifted 10 cm": 2
      },
      "mean_success_time_s": 15.0,
      "mean_max_clearance_m": 0.09344249601997286,
      "wall_s": 87.19900488853455
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    {
      "scale": 1.0,
      "successes": 52,
      "episodes": 128,
      "success_rate": 0.40625,
      "wilson95": [
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      "outcomes": {
        "never bilaterally grasped": 66,
        "success": 52,
        "tipped": 2,
        "lifted, hold < 2 s": 7,
        "grasped, not lifted 10 cm": 1
      },
      "mean_success_time_s": 15.0,
      "mean_max_clearance_m": 0.0665811819710164,
      "wall_s": 83.29557299613953
    }
  ]
}