exp_all_changes/CHANGES.md

exp_all_changes — what changed vs. main-branch FSM

This version applies all four proposed fixes simultaneously to compress the FSM into the 20-second leaderboard eval window AND place objects more gently.

Constant	Original (main)	This version	Why
_PHASE_DURATIONS_PER_OBJECT	(180, 130, 20, 160, 170, 15, 30) = 705 steps	(80, 70, 25, 70, 100, 30, 25) = 400 steps	Cuts wasted idle time. Original took ~25s per pair; new ~13s. Lets a learned policy finish inside the 20s eval cap.
_LIFT_Z_OFFSET	0.20	0.15	Reduces vertical travel during transit. (Earlier 0.10 attempt was too low — held cutlery clipped the plate edge.)
_RELEASE_Z_OFFSET	0.09	0.06	Cutlery dropped from 9 cm bounced out of the 15 cm success radius. Lower drop = gentler placement. (Earlier 0.04 attempt put gripper fingers into the table.)
_MAX_CARTESIAN_DELTA	0.018	0.020	Slightly faster IK so the cut phase durations are still enough for the actual motion. (Earlier 0.025 was too aggressive — caused knock-offs.)

What the videos should show

• Faster overall execution (each episode ~13s vs ~25s)
• Lower transport altitude
• Cutlery placed more gently next to plate

What this experiment is NOT testing

• Original FSM behavior (see exp_heights_only for that baseline)
• Eval policy timing — these are FSM rollouts, not trained-policy rollouts