G1 Factory · paired task outcomes

270 / 270 trials validated; 90 fully matched task/seed triples. All 270 prespecified trials remain visible. Pending jobs are unknown, never failures. Pilot seed 42 is excluded.

Native successes on complete matched triples

The per-task denominators below include only measured initial-state matches across all three policies. Aggregate differences are descriptive for this finite set, with different prior training and data exposure.

TaskACTGR00TAdaptive
LMBoxLift6 / 10
0 expert requests · 0 switches		10 / 10
72 expert requests · 0 switches		10 / 10
67 expert requests · 12 switches
LMBoxLiftFloor3 / 10
0 expert requests · 0 switches		10 / 10
114 expert requests · 0 switches		9 / 10
99 expert requests · 12 switches
LMBoxTableToShelfPnP2 / 10
0 expert requests · 0 switches		6 / 10
186 expert requests · 0 switches		9 / 10
148 expert requests · 9 switches
LMDrillLift1 / 10
0 expert requests · 0 switches		7 / 10
134 expert requests · 0 switches		8 / 10
103 expert requests · 12 switches
LMDrillLiftObs2 / 10
0 expert requests · 0 switches		9 / 10
135 expert requests · 0 switches		9 / 10
133 expert requests · 8 switches
LMDrillPnP8 / 10
0 expert requests · 0 switches		8 / 10
147 expert requests · 0 switches		7 / 10
152 expert requests · 11 switches
LMPickDrillFromHolder6 / 10
0 expert requests · 0 switches		7 / 10
137 expert requests · 0 switches		7 / 10
127 expert requests · 6 switches
LMPushButton3 / 10
0 expert requests · 0 switches		6 / 10
137 expert requests · 0 switches		6 / 10
76 expert requests · 8 switches
LMPushShelfForward1 / 10
0 expert requests · 0 switches		6 / 10
216 expert requests · 0 switches		5 / 10
217 expert requests · 6 switches
Routing on matched triples: 84 actual switches; ACT selected 9,156/49,230 steps (18.6%); 1122/1264 adaptive decisions queried GR00T. Initial assignments are excluded. 6 matched cases differ in outcome even though adaptive executed only GR00T; those differences cannot be attributed to switching. Success differences alone do not establish a routing benefit.

LMBoxLift

Walk to the table and pick up the box

Native success: Object root world Z >0.18m and at least one finger link within0.2m.
Interpretation: Absolute world root height plus finger proximity; no secure-contact or dwell requirement.

Matched resetACTGR00TAdaptive
Seed 1000
Initial states matched		Success · replay
259 steps · 0 expert queries · 0 switches		Success · replay
251 steps · 7 expert queries · 0 switches		Success · replay
257 steps · 7 expert queries · 1 switches
Seed 1001
Initial states matched		Success · replay
265 steps · 0 expert queries · 0 switches		Success · replay
259 steps · 7 expert queries · 0 switches		Success · replay
255 steps · 7 expert queries · 3 switches
Seed 1002
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
263 steps · 7 expert queries · 0 switches		Success · replay
259 steps · 6 expert queries · 1 switches
Seed 1003
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
256 steps · 7 expert queries · 0 switches		Success · replay
258 steps · 6 expert queries · 2 switches
Seed 1004
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
298 steps · 8 expert queries · 0 switches		Success · replay
287 steps · 7 expert queries · 1 switches
Seed 1005
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
296 steps · 8 expert queries · 0 switches		Success · replay
291 steps · 8 expert queries · 0 switches
Seed 1006
Initial states matched		Success · replay
221 steps · 0 expert queries · 0 switches		Success · replay
253 steps · 7 expert queries · 0 switches		Success · replay
249 steps · 7 expert queries · 1 switches
Seed 1007
Initial states matched		Success · replay
260 steps · 0 expert queries · 0 switches		Success · replay
263 steps · 7 expert queries · 0 switches		Success · replay
265 steps · 7 expert queries · 1 switches
Seed 1008
Initial states matched		Success · replay
249 steps · 0 expert queries · 0 switches		Success · replay
266 steps · 7 expert queries · 0 switches		Success · replay
253 steps · 6 expert queries · 1 switches
Seed 1009
Initial states matched		Success · replay
251 steps · 0 expert queries · 0 switches		Success · replay
261 steps · 7 expert queries · 0 switches		Success · replay
258 steps · 6 expert queries · 1 switches

LMBoxLiftFloor

Walk to the box and pick it up from the floor

Native success: Object root world Z >−0.5m, local-Z/world-up dot ≥0.9, and at least one finger within0.6m.
Interpretation: Absolute root height and orientation; the0.6m finger proximity allowance is a broad proxy.

Matched resetACTGR00TAdaptive
Seed 1000
Initial states matched		Success · replay
656 steps · 0 expert queries · 0 switches		Success · replay
466 steps · 12 expert queries · 0 switches		Success · replay
458 steps · 11 expert queries · 1 switches
Seed 1001
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
432 steps · 11 expert queries · 0 switches		Success · replay
401 steps · 7 expert queries · 3 switches
Seed 1002
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
424 steps · 11 expert queries · 0 switches		Success · replay
427 steps · 5 expert queries · 1 switches
Seed 1003
Initial states matched		Success · replay
894 steps · 0 expert queries · 0 switches		Success · replay
436 steps · 11 expert queries · 0 switches		Success · replay
431 steps · 8 expert queries · 3 switches
Seed 1004
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
438 steps · 11 expert queries · 0 switches		Success · replay
436 steps · 11 expert queries · 1 switches
Seed 1005
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
479 steps · 12 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches
Seed 1006
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
554 steps · 14 expert queries · 0 switches		Success · replay
433 steps · 8 expert queries · 1 switches
Seed 1007
Initial states matched		Success · replay
430 steps · 0 expert queries · 0 switches		Success · replay
424 steps · 11 expert queries · 0 switches		Success · replay
447 steps · 6 expert queries · 1 switches
Seed 1008
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
439 steps · 11 expert queries · 0 switches		Success · replay
423 steps · 8 expert queries · 1 switches
Seed 1009
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
391 steps · 10 expert queries · 0 switches		Success · replay
396 steps · 10 expert queries · 0 switches

LMBoxTableToShelfPnP

Move the box from the table to the shelf

Native success: Object/destination root separation per axis <[0.16,0.14,0.9227]m, object static, every finger >0.1m away, and destination contact >0.95N.
Interpretation: World-axis root proximity and destination contact; static permits speed up to0.15m/s and0.15rad/s.

Matched resetACTGR00TAdaptive
Seed 1000
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
553 steps · 14 expert queries · 0 switches		Success · replay
546 steps · 14 expert queries · 0 switches
Seed 1001
Initial states matched		Success · replay
516 steps · 0 expert queries · 0 switches		Success · replay
521 steps · 14 expert queries · 0 switches		Success · replay
501 steps · 12 expert queries · 2 switches
Seed 1002
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Success · replay
536 steps · 12 expert queries · 2 switches
Seed 1003
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 23 expert queries · 2 switches
Seed 1004
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Success · replay
873 steps · 20 expert queries · 2 switches
Seed 1005
Initial states matched		Success · replay
548 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Success · replay
613 steps · 16 expert queries · 0 switches
Seed 1006
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
516 steps · 13 expert queries · 0 switches		Success · replay
519 steps · 13 expert queries · 0 switches
Seed 1007
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
539 steps · 14 expert queries · 0 switches		Success · replay
512 steps · 13 expert queries · 0 switches
Seed 1008
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
489 steps · 13 expert queries · 0 switches		Success · replay
422 steps · 11 expert queries · 0 switches
Seed 1009
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
707 steps · 18 expert queries · 0 switches		Success · replay
558 steps · 14 expert queries · 1 switches

LMDrillLift

Walk to the table and pick up the power drill

Native success: Drill root world Z >0.16m and approximate grasp predicate.
Interpretation: Grasp is approximated by finger proximity and joint closure, without required object-hand contact.

Matched resetACTGR00TAdaptive
Seed 1000
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Success · replay
306 steps · 7 expert queries · 1 switches
Seed 1001
Initial states matched		Success · replay
333 steps · 0 expert queries · 0 switches		Success · replay
337 steps · 9 expert queries · 0 switches		Success · replay
340 steps · 9 expert queries · 0 switches
Seed 1002
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
302 steps · 8 expert queries · 0 switches		Success · replay
301 steps · 6 expert queries · 1 switches
Seed 1003
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
330 steps · 9 expert queries · 0 switches		Success · replay
308 steps · 6 expert queries · 1 switches
Seed 1004
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 23 expert queries · 1 switches
Seed 1005
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
298 steps · 8 expert queries · 0 switches		Success · replay
302 steps · 8 expert queries · 0 switches
Seed 1006
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 21 expert queries · 4 switches
Seed 1007
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
331 steps · 9 expert queries · 0 switches		Success · replay
317 steps · 7 expert queries · 3 switches
Seed 1008
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
315 steps · 8 expert queries · 0 switches		Success · replay
309 steps · 7 expert queries · 1 switches
Seed 1009
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
298 steps · 8 expert queries · 0 switches		Success · replay
322 steps · 9 expert queries · 0 switches

LMDrillLiftObs

Navigate around the shelf and pick up the power drill from the table

Native success: Drill root world Z >0.16m and approximate grasp predicate. Success does not explicitly require obstacle avoidance.
Interpretation: Approximate grasp; success does not explicitly test that the robot avoided colliding with the obstacle.

Matched resetACTGR00TAdaptive
Seed 1000
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
496 steps · 13 expert queries · 0 switches		Success · replay
495 steps · 13 expert queries · 1 switches
Seed 1001
Initial states matched		Success · replay
392 steps · 0 expert queries · 0 switches		Success · replay
389 steps · 10 expert queries · 0 switches		Success · replay
389 steps · 10 expert queries · 0 switches
Seed 1002
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Success · replay
380 steps · 9 expert queries · 1 switches
Seed 1003
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
378 steps · 10 expert queries · 0 switches		Success · replay
379 steps · 10 expert queries · 0 switches
Seed 1004
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
569 steps · 15 expert queries · 0 switches		Success · replay
569 steps · 15 expert queries · 0 switches
Seed 1005
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
543 steps · 14 expert queries · 0 switches		Success · replay
549 steps · 14 expert queries · 1 switches
Seed 1006
Initial states matched		Success · replay
356 steps · 0 expert queries · 0 switches		Success · replay
373 steps · 10 expert queries · 0 switches		Failure · replay
1000 steps · 23 expert queries · 2 switches
Seed 1007
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
515 steps · 13 expert queries · 0 switches		Success · replay
521 steps · 14 expert queries · 1 switches
Seed 1008
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
551 steps · 14 expert queries · 0 switches		Success · replay
564 steps · 15 expert queries · 1 switches
Seed 1009
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
403 steps · 11 expert queries · 0 switches		Success · replay
399 steps · 10 expert queries · 1 switches

LMDrillPnP

Move the power drill from one table to another

Native success: Drill/destination-table root separation <[0.3,0.27,0.81]m, static, local-Z/world-up dot ≥0.8, and every finger >0.1m away. No contact term.
Interpretation: Root proximity, orientation and static test; no destination contact term.

Matched resetACTGR00TAdaptive
Seed 1000
Initial states matched		Success · replay
428 steps · 0 expert queries · 0 switches		Success · replay
462 steps · 12 expert queries · 0 switches		Success · replay
463 steps · 12 expert queries · 0 switches
Seed 1001
Initial states matched		Success · replay
413 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 23 expert queries · 2 switches
Seed 1002
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
439 steps · 11 expert queries · 0 switches		Success · replay
567 steps · 11 expert queries · 3 switches
Seed 1003
Initial states matched		Success · replay
417 steps · 0 expert queries · 0 switches		Success · replay
453 steps · 12 expert queries · 0 switches		Success · replay
447 steps · 12 expert queries · 0 switches
Seed 1004
Initial states matched		Success · replay
461 steps · 0 expert queries · 0 switches		Success · replay
541 steps · 14 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches
Seed 1005
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
469 steps · 12 expert queries · 0 switches		Success · replay
466 steps · 12 expert queries · 2 switches
Seed 1006
Initial states matched		Success · replay
413 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 2 switches
Seed 1007
Initial states matched		Success · replay
460 steps · 0 expert queries · 0 switches		Success · replay
444 steps · 12 expert queries · 0 switches		Success · replay
465 steps · 10 expert queries · 2 switches
Seed 1008
Initial states matched		Success · replay
439 steps · 0 expert queries · 0 switches		Success · replay
477 steps · 12 expert queries · 0 switches		Success · replay
429 steps · 11 expert queries · 0 switches
Seed 1009
Initial states matched		Success · replay
475 steps · 0 expert queries · 0 switches		Success · replay
463 steps · 12 expert queries · 0 switches		Success · replay
425 steps · 11 expert queries · 0 switches

LMPickDrillFromHolder

Pick up the power drill from the holder

Native success: Drill root world Z >0.13m, approximate grasp, and holder contact is not above0.95N.
Interpretation: Approximate hand grasp plus no holder contact; removing the drill is not a secure-grasp guarantee.

Matched resetACTGR00TAdaptive
Seed 1000
Initial states matched		Success · replay
328 steps · 0 expert queries · 0 switches		Success · replay
320 steps · 8 expert queries · 0 switches		Success · replay
358 steps · 9 expert queries · 0 switches
Seed 1001
Initial states matched		Success · replay
342 steps · 0 expert queries · 0 switches		Success · replay
398 steps · 10 expert queries · 0 switches		Success · replay
395 steps · 8 expert queries · 1 switches
Seed 1002
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches
Seed 1003
Initial states matched		Success · replay
325 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Success · replay
345 steps · 9 expert queries · 0 switches
Seed 1004
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
348 steps · 9 expert queries · 0 switches		Success · replay
335 steps · 9 expert queries · 1 switches
Seed 1005
Initial states matched		Success · replay
343 steps · 0 expert queries · 0 switches		Success · replay
317 steps · 8 expert queries · 0 switches		Success · replay
320 steps · 6 expert queries · 1 switches
Seed 1006
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches
Seed 1007
Initial states matched		Success · replay
368 steps · 0 expert queries · 0 switches		Success · replay
347 steps · 9 expert queries · 0 switches		Failure · replay
1000 steps · 20 expert queries · 1 switches
Seed 1008
Initial states matched		Success · replay
372 steps · 0 expert queries · 0 switches		Success · replay
355 steps · 9 expert queries · 0 switches		Success · replay
348 steps · 8 expert queries · 1 switches
Seed 1009
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
343 steps · 9 expert queries · 0 switches		Success · replay
341 steps · 8 expert queries · 1 switches

LMPushButton

Walk to the console and press the red button

Native success: Button joint normalized pressedness >0.5 and at least one finger within0.2m.
Interpretation: Normalized joint travel plus finger proximity; no force-contact or sustained-press requirement.

Matched resetACTGR00TAdaptive
Seed 1000
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
337 steps · 9 expert queries · 0 switches		Success · replay
177 steps · 5 expert queries · 1 switches
Seed 1001
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 12 expert queries · 1 switches
Seed 1002
Initial states matched		Success · replay
308 steps · 0 expert queries · 0 switches		Success · replay
166 steps · 5 expert queries · 0 switches		Success · replay
167 steps · 5 expert queries · 1 switches
Seed 1003
Initial states matched		Success · replay
145 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 11 expert queries · 1 switches
Seed 1004
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
220 steps · 6 expert queries · 0 switches		Success · replay
174 steps · 5 expert queries · 0 switches
Seed 1005
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
201 steps · 6 expert queries · 0 switches		Success · replay
168 steps · 5 expert queries · 1 switches
Seed 1006
Initial states matched		Success · replay
124 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 11 expert queries · 1 switches
Seed 1007
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
202 steps · 6 expert queries · 0 switches		Success · replay
313 steps · 6 expert queries · 1 switches
Seed 1008
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
198 steps · 5 expert queries · 0 switches		Success · replay
177 steps · 5 expert queries · 0 switches
Seed 1009
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 11 expert queries · 1 switches

LMPushShelfForward

Push the tall wheeled shelf to the marked area

Native success: Shelf/target root separation <[0.3,0.3,0.01]m, static, local-Z/world-up dot ≥0.9, and a finger within1.1m.
Interpretation: Root/target proximity and static/upright test; the1.1m finger proximity allowance is broad.

Matched resetACTGR00TAdaptive
Seed 1000
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
687 steps · 18 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches
Seed 1001
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
867 steps · 22 expert queries · 0 switches		Success · replay
882 steps · 23 expert queries · 0 switches
Seed 1002
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
745 steps · 19 expert queries · 0 switches		Failure · replay
1000 steps · 21 expert queries · 1 switches
Seed 1003
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Success · replay
729 steps · 19 expert queries · 0 switches
Seed 1004
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 23 expert queries · 2 switches
Seed 1005
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 21 expert queries · 1 switches
Seed 1006
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
824 steps · 21 expert queries · 0 switches		Success · replay
906 steps · 23 expert queries · 0 switches
Seed 1007
Initial states matched		Success · replay
699 steps · 0 expert queries · 0 switches		Failure · replay
1000 steps · 25 expert queries · 0 switches		Failure · replay
1000 steps · 23 expert queries · 2 switches
Seed 1008
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
738 steps · 19 expert queries · 0 switches		Success · replay
739 steps · 19 expert queries · 0 switches
Seed 1009
Initial states matched		Failure · replay
1000 steps · 0 expert queries · 0 switches		Success · replay
678 steps · 17 expert queries · 0 switches		Success · replay
780 steps · 20 expert queries · 0 switches