Base
No skill
Base
Initial skill S0
Iter80
No skill
Iter80
Final skill ST
0
20
40
60
80
100
Score / rate
54.22
56.63
85.01
86.71
51.75
54.50
84.25
86.25
Test performance · 400 shared tasks, one rollout per condition
Strict reward ×100
Success rate (%)