{
  "camera-passive": {
    "methods": [
      {
        "key": "passive",
        "label": "Passive stereo",
        "color": "#7fc0a3"
      },
      {
        "key": "er",
        "label": "EyeRobot 2.0",
        "color": "#f2986f",
        "hatch": true
      }
    ],
    "rows": [
      {
        "key": "average",
        "label": "All seven tasks",
        "values": {
          "success": {
            "passive": 27.017857142857142,
            "wrist": 52.232142857142854,
            "er": 66.53571428571429
          },
          "progression": {
            "passive": 47.988095238095234,
            "wrist": 73.11011904761905,
            "er": 81.25595238095238
          }
        }
      }
    ],
    "defaultMetric": "success",
    "compact": true,
    "metrics": [
      {
        "key": "success",
        "label": "Success rate",
        "title": "Average task success",
        "caption": "Success rate is the percentage of trials that complete the full task. Mean across seven equally weighted tasks."
      },
      {
        "key": "progression",
        "label": "Task progression",
        "title": "Average task progression",
        "caption": "Task progression is the average percentage of task stages completed in order. Mean across seven equally weighted tasks."
      }
    ]
  },
  "camera-clear": {
    "methods": [
      {
        "key": "wrist",
        "label": "Ego + Wrist",
        "color": "#5c8fc5"
      },
      {
        "key": "er",
        "label": "EyeRobot 2.0",
        "color": "#f2986f",
        "hatch": true
      }
    ],
    "rows": [
      {
        "key": "marker",
        "label": "Marker",
        "values": {
          "success": {
            "passive": 4.0,
            "wrist": 56.0,
            "er": 68.0
          },
          "progression": {
            "passive": 27.333333333333332,
            "wrist": 74.66666666666667,
            "er": 81.33333333333333
          }
        }
      },
      {
        "key": "tea",
        "label": "Tea",
        "values": {
          "success": {
            "passive": 28.0,
            "wrist": 80.0,
            "er": 80.0
          },
          "progression": {
            "passive": 48.0,
            "wrist": 88.0,
            "er": 90.0
          }
        }
      },
      {
        "key": "toaster",
        "label": "Toaster",
        "values": {
          "success": {
            "passive": 36.0,
            "wrist": 52.0,
            "er": 52.0
          },
          "progression": {
            "passive": 57.333333333333336,
            "wrist": 66.66666666666667,
            "er": 74.66666666666667
          }
        }
      },
      {
        "key": "wrench",
        "label": "Wrench",
        "values": {
          "success": {
            "passive": 32.0,
            "wrist": 68.0,
            "er": 76.0
          },
          "progression": {
            "passive": 42.666666666666664,
            "wrist": 78.66666666666667,
            "er": 80.0
          }
        }
      }
    ],
    "defaultMetric": "success",
    "compact": false,
    "metrics": [
      {
        "key": "success",
        "label": "Success rate",
        "title": "Success with unobstructed wrist views",
        "caption": "Success rate is the percentage of trials that complete the full task."
      },
      {
        "key": "progression",
        "label": "Task progression",
        "title": "Task progression with unobstructed wrist views",
        "caption": "Task progression is the average percentage of task stages completed in order."
      }
    ]
  },
  "camera-occluded": {
    "methods": [
      {
        "key": "passive",
        "label": "Passive stereo",
        "color": "#7fc0a3"
      },
      {
        "key": "wrist",
        "label": "Ego + Wrist",
        "color": "#5c8fc5"
      },
      {
        "key": "er",
        "label": "EyeRobot 2.0",
        "color": "#f2986f",
        "hatch": true
      }
    ],
    "rows": [
      {
        "key": "boba",
        "label": "Boba",
        "values": {
          "success": {
            "passive": 8.0,
            "wrist": 12.0,
            "er": 44.0
          },
          "progression": {
            "passive": 46.0,
            "wrist": 56.0,
            "er": 72.0
          }
        }
      },
      {
        "key": "pot-place",
        "label": "Pot lid",
        "values": {
          "success": {
            "passive": 28.0,
            "wrist": 32.0,
            "er": 52.0
          },
          "progression": {
            "passive": 50.0,
            "wrist": 66.0,
            "er": 76.0
          }
        }
      }
    ],
    "defaultMetric": "success",
    "compact": false,
    "metrics": [
      {
        "key": "success",
        "label": "Success rate",
        "title": "Success under tool occlusion",
        "caption": "Success rate is the percentage of trials that complete the full task."
      },
      {
        "key": "progression",
        "label": "Task progression",
        "title": "Task progression under tool occlusion",
        "caption": "Task progression is the average percentage of task stages completed in order."
      }
    ]
  },
  "simulation": {
    "methods": [
      {
        "key": "passive",
        "label": "Passive stereo",
        "color": "#7fc0a3"
      },
      {
        "key": "wrist",
        "label": "Ego + Wrist",
        "color": "#5c8fc5"
      },
      {
        "key": "er",
        "label": "EyeRobot 2.0",
        "color": "#f2986f",
        "hatch": true
      }
    ],
    "rows": [
      {
        "key": "average",
        "label": "Average",
        "values": {
          "success": {
            "passive": 54.0,
            "wrist": 75.0,
            "er": 74.0
          }
        }
      },
      {
        "key": "tape",
        "label": "Tape",
        "values": {
          "success": {
            "passive": 55.0,
            "wrist": 81.0,
            "er": 79.0
          }
        }
      },
      {
        "key": "pot",
        "label": "Pot lid",
        "values": {
          "success": {
            "passive": 69.0,
            "wrist": 90.0,
            "er": 91.0
          }
        }
      },
      {
        "key": "tiger",
        "label": "Tiger",
        "values": {
          "success": {
            "passive": 87.0,
            "wrist": 96.0,
            "er": 98.0
          }
        }
      },
      {
        "key": "tray",
        "label": "Medical tray",
        "values": {
          "success": {
            "passive": 44.0,
            "wrist": 85.0,
            "er": 78.0
          }
        }
      },
      {
        "key": "plate",
        "label": "Plate in rack",
        "values": {
          "success": {
            "passive": 41.0,
            "wrist": 74.0,
            "er": 70.0
          }
        }
      },
      {
        "key": "spoon",
        "label": "Hang spoon",
        "values": {
          "success": {
            "passive": 26.0,
            "wrist": 27.0,
            "er": 30.0
          }
        }
      }
    ],
    "dividerAfter": "average",
    "defaultMetric": "success",
    "metrics": [
      {
        "key": "success",
        "label": "Success rate",
        "title": "Simulation task success",
        "caption": "Success rate is the percentage of trials that complete the full task. 1,800 simulation trials."
      }
    ]
  },
  "action-ablation": {
    "methods": [
      {
        "key": "world",
        "label": "World-relative actions",
        "color": "#5c8fc5"
      },
      {
        "key": "er",
        "label": "EyeRobot 2.0",
        "color": "#f2986f",
        "hatch": true
      }
    ],
    "rows": [
      {
        "key": "average",
        "label": "Average",
        "description": "Task average",
        "decimals": 1,
        "values": {
          "success": {
            "world": 52.5,
            "er": 74.3
          }
        }
      },
      {
        "key": "tape",
        "label": "Tape",
        "description": "Tape handover (random)",
        "decimals": 0,
        "values": {
          "success": {
            "world": 56,
            "er": 79
          }
        }
      },
      {
        "key": "pot",
        "label": "Pot",
        "description": "Pot lid",
        "decimals": 0,
        "values": {
          "success": {
            "world": 58,
            "er": 91
          }
        }
      },
      {
        "key": "tiger",
        "label": "Tiger",
        "description": "Tiger (right half)",
        "decimals": 0,
        "values": {
          "success": {
            "world": 81,
            "er": 98
          }
        }
      },
      {
        "key": "tray",
        "label": "Tray",
        "description": "Medical tray",
        "decimals": 0,
        "values": {
          "success": {
            "world": 45,
            "er": 78
          }
        }
      },
      {
        "key": "plate",
        "label": "Plate",
        "description": "Plate in rack",
        "decimals": 0,
        "values": {
          "success": {
            "world": 55,
            "er": 70
          }
        }
      },
      {
        "key": "spoon",
        "label": "Spoon",
        "description": "Hang spoon",
        "decimals": 0,
        "values": {
          "success": {
            "world": 20,
            "er": 30
          }
        }
      }
    ],
    "dividerAfter": "average",
    "defaultMetric": "success",
    "metrics": [
      {
        "key": "success",
        "label": "Success rate",
        "title": "Fixation-relative action ablation",
        "caption": "Success rate is the percentage of trials that complete the full task."
      }
    ]
  },
  "distractors": {
    "methods": [
      {
        "key": "passive",
        "label": "Passive stereo",
        "color": "#7fc0a3"
      },
      {
        "key": "wrist",
        "label": "Ego + Wrist",
        "color": "#5c8fc5"
      },
      {
        "key": "er",
        "label": "EyeRobot 2.0",
        "color": "#f2986f",
        "hatch": true
      }
    ],
    "rows": [
      {
        "key": "success",
        "label": "Success",
        "values": {
          "summary": {
            "passive": 0.0,
            "wrist": 10.666666666666666,
            "er": 22.666666666666668
          }
        }
      },
      {
        "key": "progression",
        "label": "Progression",
        "values": {
          "summary": {
            "passive": 6.444444444444445,
            "wrist": 25.11111111111111,
            "er": 44.666666666666664
          }
        }
      },
      {
        "key": "grasp",
        "label": "First grasp",
        "values": {
          "summary": {
            "passive": 16.0,
            "wrist": 46.666666666666664,
            "er": 74.66666666666667
          }
        }
      }
    ],
    "defaultMetric": "summary",
    "metrics": [
      {
        "key": "summary",
        "label": "Average performance",
        "title": "Average performance with distractors",
        "caption": "Success: full task completed. Progression: mean percentage of task stages completed. First grasp: completion of the initial grasp stage. Averages weight the three tasks equally; 25 trials per task and policy."
      }
    ]
  }
}