{
  "schema_version": 1,
  "paper_figure": 5,
  "units": {
    "success": "percent",
    "standard_deviation": "percentage points"
  },
  "interpretation": [
    "These are training success metrics across mixed reset conditions, including partial assemblies, not a held-out start-random evaluation.",
    "Shared binary heatmap: nineteen image-derived per-asset estimates from the reported run at iteration 120250 and 131072 environments; M4 is an author-local measurement with no recorded checkpoint or environment count.",
    "Shared binary aggregate bar: the reported run at iteration 25000, reported 64K environments. It is intentionally not the average of that heatmap row.",
    "Separate binary bars and heatmap use iteration 25000, holding the final value for gear runs ending at 14999; separate dense results use different final endpoints and average their three or four available reset strata.",
    "Error bars are sample standard deviation across nearby checkpoints at offsets -2500, 0, +2500 where available for every contributing task. Aggregate all tasks at each common offset before computing SD (ddof=1). They are not independent-training-seed uncertainty.",
    "Shared dense M4 is displayed as zero, matching the paper generator's fallback for a blank source CSV cell; this is not a measured zero. Its aggregate bar is unchanged.",
    "Per-run 64K environment counts are stated in the paper, not independently present in these CSVs; verified numeric environment counts are provided where the heatmap manifest contains them. Total compute is not matched.",
    "Website terminology maps the paper's sparse condition to binary reward and dense condition to dense shaping; dense shaping retains the binary task reward and adds progress terms."
  ],
  "asset_order": [
    "nut_thread_m4",
    "nut_thread_m8",
    "nut_thread_m12",
    "nut_thread_m16",
    "gear_mesh_small",
    "gear_mesh_medium",
    "gear_mesh_large",
    "rod_insert_4mm",
    "rod_insert_8mm",
    "rod_insert_12mm",
    "rod_insert_16mm",
    "peg_insert_4mm",
    "peg_insert_8mm",
    "peg_insert_12mm",
    "peg_insert_16mm",
    "usba",
    "waterproof",
    "bnc",
    "dsub",
    "rj45"
  ],
  "condition_order": [
    "multi_asset_sparse",
    "single_asset_sparse",
    "multi_asset_dense",
    "single_asset_dense"
  ],
  "heatmap": [
    {
      "asset": "nut_thread_m4",
      "asset_label": "N4",
      "condition": "multi_asset_sparse",
      "success_percent": 98.5,
      "source": {
        "kind": "author_local_measurement",
        "iteration": null,
        "parallel_environments": null,
        "source_color_bin_lower_fraction": null,
        "source_color_bin_upper_fraction": null
      }
    },
    {
      "asset": "nut_thread_m4",
      "asset_label": "N4",
      "condition": "single_asset_sparse",
      "success_percent": 49.41917359828949,
      "source": {
        "kind": "Metrics/MonitorSuccessRate, interpolated to 25000 with endpoint holding",
        "plot_target_iteration": 25000,
        "asset": "nut_thread_m4",
        "iteration": 25000,
        "parallel_environments_reported": "64K per run in the paper's experiment setup",
        "parallel_environment_count_verified_in_local_csv": null
      }
    },
    {
      "asset": "nut_thread_m4",
      "asset_label": "N4",
      "condition": "multi_asset_dense",
      "success_percent": 0,
      "source": {
        "kind": "Paper plotting fallback: zero for a blank source CSV cell, not a measured zero",
        "iteration": 25000,
        "parallel_environments_reported": "64K per run in the paper's experiment setup",
        "parallel_environment_count_verified_in_local_csv": null
      }
    },
    {
      "asset": "nut_thread_m4",
      "asset_label": "N4",
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      "source": {
        "kind": "Mean of available reset-stratum success rates at the run's final endpoint",
        "stratum_count": 4,
        "asset": "nut_thread_m4",
        "iteration": 10560,
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        "parallel_environment_count_verified_in_local_csv": null
      }
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      "asset": "nut_thread_m8",
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        "kind": "AssetUnassembledRate image-derived completion estimate",
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        "source_color_bin_lower_fraction": 0.99609375,
        "source_color_bin_upper_fraction": 1
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      "asset": "nut_thread_m8",
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        "kind": "Metrics/MonitorSuccessRate, interpolated to 25000 with endpoint holding",
        "plot_target_iteration": 25000,
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        "parallel_environment_count_verified_in_local_csv": null
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    {
      "asset": "nut_thread_m8",
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        "kind": "AssetUnassembledRate image-derived completion estimate",
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      "asset": "nut_thread_m8",
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        "kind": "Mean of available reset-stratum success rates at the run's final endpoint",
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